SpatialVector< Cmpt > Class Template Reference

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 >:
Collaboration diagram for SpatialVector< Cmpt >:

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 scalar)
 
void operator/= (const scalar)
 

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
 

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.

Referenced by SpatialVector< scalar >::SpatialVector().

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◆ 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 42 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 52 of file SpatialVectorI.H.

◆ 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 68 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 ( ) const
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 ( ) const
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 ( ) const
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 ( ) const
inline

Definition at line 124 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ ly() [1/2]

const Cmpt & ly ( ) const
inline

Definition at line 131 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ lz() [1/2]

const Cmpt & lz ( ) const
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 ( ) const
inline

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

Definition at line 187 of file SpatialVectorI.H.

Referenced by rigidBodyMotion::status().

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◆ l()

Foam::Vector< Cmpt > l ( ) const
inline

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

Definition at line 193 of file SpatialVectorI.H.

Referenced by rigidBodyMotion::status().

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◆ operator*()

Foam::SpatialVector< Cmpt >::dual operator* ( ) const
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: