Templated 3D spatial vector derived from VectorSpace used to represent the anglular and linear components of position, velocity and acceleration of rigid bodies. More...

Inheritance diagram for SpatialVector< Cmpt >:

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Collaboration diagram for SpatialVector< Cmpt >:

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Classes
class	dual
	Class to represent the dual spatial vector. More...

Public Types
enum	components { WX , WY , WZ , LX , LY , LZ }
	Component labeling enumeration. More...

Public Types inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
typedef VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts >	vsType
	VectorSpace type. More...

typedef Cmpt	cmptType
	Component type. More...

Public Member Functions
	SpatialVector ()
	Construct null. More...

	SpatialVector (const Foam::zero)
	Construct initialised to zero. More...

	SpatialVector (const typename SpatialVector::vsType &)
	Construct given VectorSpace of the same rank. More...

	SpatialVector (const Vector< Cmpt > &w, const Vector< Cmpt > &l)
	Construct from the angular and linear vector components. More...

	SpatialVector (const Cmpt &wx, const Cmpt &wy, const Cmpt &wz, const Cmpt &lx, const Cmpt &ly, const Cmpt &lz)
	Construct given 6 components. More...

	SpatialVector (Istream &)
	Construct from Istream. More...

const Cmpt &	wx () const

const Cmpt &	wy () const

const Cmpt &	wz () const

const Cmpt &	lx () const

const Cmpt &	ly () const

const Cmpt &	lz () const

Cmpt &	wx ()

Cmpt &	wy ()

Cmpt &	wz ()

Cmpt &	lx ()

Cmpt &	ly ()

Cmpt &	lz ()

Vector< Cmpt >	w () const
	Return the angular part of the spatial vector as a vector. More...

Vector< Cmpt >	l () const
	Return the linear part of the spatial vector as a vector. More...

dual	operator* () const
	Return the dual spatial vector. More...

Public Member Functions inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
	VectorSpace ()
	Construct null. More...

	VectorSpace (const Foam::zero)
	Construct initialised to zero. More...

	VectorSpace (Istream &)
	Construct from Istream. More...

	VectorSpace (const VectorSpace< Form2, Cmpt2, Ncmpts > &)
	Construct as copy of a VectorSpace with the same size. More...

const Cmpt &	component (const direction) const

Cmpt &	component (const direction)

void	component (Cmpt &, const direction) const

void	replace (const direction, const Cmpt &)

const ConstBlock< SubVector, BStart >	block () const

const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts >::template ConstBlock< SubVector, BStart >	block () const

const Cmpt &	operator[] (const direction) const

Cmpt &	operator[] (const direction)

void	operator+= (const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts > &)

void	operator-= (const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts > &)

void	operator= (const Foam::zero)

void	operator*= (const Type)

void	operator/= (const Type)

Additional Inherited Members
Static Public Member Functions inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
static direction	size ()
	Return the number of elements in the VectorSpace = Ncmpts. More...

static SpatialVector< Cmpt >	uniform (const Cmpt &s)
	Return a VectorSpace with all elements = s. More...

Public Attributes inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
Cmpt	v_ [Ncmpts]
	The components of this vector space. More...

Static Public Attributes inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
static const direction	dim
	Dimensionality of space. More...

static const direction	nComponents
	Number of components in this vector space. More...

static const direction	mRows

static const direction	nCols

static const char *const	typeName

static const char *const	componentNames []

static const SpatialVector< Cmpt >	zero

static const SpatialVector< Cmpt >	one

static const SpatialVector< Cmpt >	max

static const SpatialVector< Cmpt >	min

static const SpatialVector< Cmpt >	rootMax

static const SpatialVector< Cmpt >	rootMin

static const SpatialVector< Cmpt >	nan

Detailed Description

template<class Cmpt>
class Foam::SpatialVector< Cmpt >

Templated 3D spatial vector derived from VectorSpace used to represent the anglular and linear components of position, velocity and acceleration of rigid bodies.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.

Source files

See also: Foam::VectorSpace Foam::Vector

Definition at line 62 of file SpatialVector.H.

Member Enumeration Documentation

◆ components

enum components

Component labeling enumeration.

Enumerator
WX
WY
WZ
LX
LY
LZ

Definition at line 70 of file SpatialVector.H.

Constructor & Destructor Documentation

◆ SpatialVector() [1/6]

SpatialVector

inline

Construct null.

Definition at line 29 of file SpatialVectorI.H.

◆ SpatialVector() [2/6]

SpatialVector ( const Foam::zero )

inline

Construct initialised to zero.

Definition at line 34 of file SpatialVectorI.H.

◆ SpatialVector() [3/6]

SpatialVector ( const typename SpatialVector< Cmpt >::vsType & vs )

inline

Construct given VectorSpace of the same rank.

Definition at line 41 of file SpatialVectorI.H.

◆ SpatialVector() [4/6]

SpatialVector	(	const Vector< Cmpt > &	w,
		const Vector< Cmpt > &	l
	)

inline

Construct from the angular and linear vector components.

Definition at line 51 of file SpatialVectorI.H.

References Vector< Cmpt >::x(), Vector< Cmpt >::y(), and Vector< Cmpt >::z().

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◆ SpatialVector() [5/6]

SpatialVector	(	const Cmpt &	wx,
		const Cmpt &	wy,
		const Cmpt &	wz,
		const Cmpt &	lx,
		const Cmpt &	ly,
		const Cmpt &	lz
	)

inline

Construct given 6 components.

Definition at line 67 of file SpatialVectorI.H.

◆ SpatialVector() [6/6]

SpatialVector ( Istream & is )

inline

Construct from Istream.

Definition at line 87 of file SpatialVectorI.H.

Member Function Documentation

◆ wx() [1/2]

const Cmpt & wx

inline

Definition at line 103 of file SpatialVectorI.H.

Referenced by Rx::jcalc(), and Foam::operator^().

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◆ wy() [1/2]

const Cmpt & wy

inline

Definition at line 110 of file SpatialVectorI.H.

Referenced by Ry::jcalc(), and Foam::operator^().

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◆ wz() [1/2]

const Cmpt & wz

inline

Definition at line 117 of file SpatialVectorI.H.

Referenced by Rz::jcalc(), and Foam::operator^().

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◆ lx() [1/2]

const Cmpt & lx

inline

Definition at line 124 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ ly() [1/2]

const Cmpt & ly

inline

Definition at line 131 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ lz() [1/2]

const Cmpt & lz

inline

Definition at line 138 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ wx() [2/2]

Cmpt & wx

inline

Definition at line 145 of file SpatialVectorI.H.

◆ wy() [2/2]

Cmpt & wy

inline

Definition at line 152 of file SpatialVectorI.H.

◆ wz() [2/2]

Cmpt & wz

inline

Definition at line 159 of file SpatialVectorI.H.

◆ lx() [2/2]

Cmpt & lx

inline

Definition at line 166 of file SpatialVectorI.H.

◆ ly() [2/2]

Cmpt & ly

inline

Definition at line 173 of file SpatialVectorI.H.

◆ lz() [2/2]

Cmpt & lz

inline

Definition at line 180 of file SpatialVectorI.H.

◆ w()

Foam::Vector< Cmpt > w

inline

Return the angular part of the spatial vector as a vector.

Definition at line 187 of file SpatialVectorI.H.

Referenced by rigidBodyMotion::status(), rigidBodyPoints::write(), and rigidBodyState::write().

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◆ l()

Foam::Vector< Cmpt > l

inline

Return the linear part of the spatial vector as a vector.

Definition at line 193 of file SpatialVectorI.H.

Referenced by rigidBodyMotion::status(), rigidBodyPoints::write(), and rigidBodyState::write().

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◆ operator*()

Foam::SpatialVector< Cmpt >::dual operator*

inline

Return the dual spatial vector.

Definition at line 210 of file SpatialVectorI.H.

The documentation for this class was generated from the following files:

src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVector.H
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVectorI.H

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class Cmpt> class Foam::SpatialVector< Cmpt >

Member Enumeration Documentation

◆ components

Constructor & Destructor Documentation

◆ SpatialVector() [1/6]

◆ SpatialVector() [2/6]

◆ SpatialVector() [3/6]

◆ SpatialVector() [4/6]

◆ SpatialVector() [5/6]

◆ SpatialVector() [6/6]

Member Function Documentation

◆ wx() [1/2]

◆ wy() [1/2]

◆ wz() [1/2]

◆ lx() [1/2]

◆ ly() [1/2]

◆ lz() [1/2]

◆ wx() [2/2]

◆ wy() [2/2]

◆ wz() [2/2]

◆ lx() [2/2]

◆ ly() [2/2]

◆ lz() [2/2]

◆ w()

◆ l()

◆ operator*()

template<class Cmpt>
class Foam::SpatialVector< Cmpt >