SpatialTensor< Cmpt > Class Template Reference

Templated 3D spatial tensor derived from MatrixSpace used to represent transformations of spatial vectors and the angular and linear inertia of rigid bodies. More...

Inheritance diagram for SpatialTensor< Cmpt >:
Collaboration diagram for SpatialTensor< Cmpt >:

Public Member Functions

 SpatialTensor ()
 Construct null. More...
 
 SpatialTensor (const Foam::zero)
 Construct initialised to zero. More...
 
 SpatialTensor (const typename SpatialTensor::msType &)
 Construct given MatrixSpace of the same rank. More...
 
 SpatialTensor (const Tensor< Cmpt > &t00, const Tensor< Cmpt > &t01, const Tensor< Cmpt > &t10, const Tensor< Cmpt > &t11)
 Construct given 4 tensor blocks. More...
 
 SpatialTensor (const Cmpt &t00, const Cmpt &t01, const Cmpt &t02, const Cmpt &t03, const Cmpt &t04, const Cmpt &t05, const Cmpt &t10, const Cmpt &t11, const Cmpt &t12, const Cmpt &t13, const Cmpt &t14, const Cmpt &t15, const Cmpt &t20, const Cmpt &t21, const Cmpt &t22, const Cmpt &t23, const Cmpt &t24, const Cmpt &t25, const Cmpt &t30, const Cmpt &t31, const Cmpt &t32, const Cmpt &t33, const Cmpt &t34, const Cmpt &t35, const Cmpt &t40, const Cmpt &t41, const Cmpt &t42, const Cmpt &t43, const Cmpt &t44, const Cmpt &t45, const Cmpt &t50, const Cmpt &t51, const Cmpt &t52, const Cmpt &t53, const Cmpt &t54, const Cmpt &t55)
 Construct given 36 components. More...
 
 SpatialTensor (Istream &)
 Construct from Istream. More...
 
- Public Member Functions inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 >
 MatrixSpace ()
 Construct null. More...
 
 MatrixSpace (const Foam::zero)
 Construct initialised to zero. More...
 
 MatrixSpace (const VectorSpace< Form2, Cmpt2, Mrows *Ncols > &)
 Construct as copy of a VectorSpace with the same size. More...
 
 MatrixSpace (const Block2< SpatialTensor< Cmpt >, BRowStart, BColStart > &block)
 Construct from a block of another matrix space. More...
 
 MatrixSpace (Istream &)
 Construct from Istream. More...
 
const Cmpt & elmt () const
 Fast const element access using compile-time addressing. More...
 
Cmpt & elmt ()
 Fast element access using compile-time addressing. More...
 
const Cmpt & xx () const
 
Cmpt & xx ()
 
const Cmpt & xy () const
 
Cmpt & xy ()
 
const Cmpt & xz () const
 
Cmpt & xz ()
 
const Cmpt & yx () const
 
Cmpt & yx ()
 
const Cmpt & yy () const
 
Cmpt & yy ()
 
const Cmpt & yz () const
 
Cmpt & yz ()
 
const Cmpt & zx () const
 
Cmpt & zx ()
 
const Cmpt & zy () const
 
Cmpt & zy ()
 
const Cmpt & zz () const
 
Cmpt & zz ()
 
typeOfTranspose< Cmpt, SpatialTensor< Cmpt > >::type T () const
 Return the transpose of the matrix. More...
 
ConstBlock< SubTensor, BRowStart, BColStart > block () const
 Return a const sub-block corresponding to the specified type. More...
 
Block< SubTensor, BRowStart, BColStart > block ()
 Return a sub-block corresponding to the specified type. More...
 
Foam::MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Mrows, Ncols >::template ConstBlock< SubTensor, BRowStart, BColStart > block () const
 
Foam::MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Mrows, Ncols >::template Block< SubTensor, BRowStart, BColStart > block ()
 
const Cmpt & operator() (const direction &i, const direction &j) const
 (i, j) const element access operator More...
 
Cmpt & operator() (const direction &i, const direction &j)
 (i, j) element access operator More...
 
void operator= (const Foam::zero)
 Assignment to zero. More...
 
void operator= (const Block2< SpatialTensor< Cmpt >, BRowStart, BColStart > &block)
 Assignment to a block of another matrix space. More...
 
void operator&= (const MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Ncols, Ncols > &matrix)
 Inner product with a compatible square matrix. More...
 
- Public Member Functions inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols >
 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< SpatialTensor< Cmpt >, Cmpt, Ncmpts >::template ConstBlock< SubVector, BStart > block () const
 
const Cmpt & operator[] (const direction) const
 
Cmpt & operator[] (const direction)
 
void operator+= (const VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > &)
 
void operator-= (const VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > &)
 
void operator= (const Foam::zero)
 
void operator*= (const Type)
 
void operator/= (const Type)
 

Static Public Attributes

static const direction rank = 2
 Rank of Tensor is 2. More...
 
static const SpatialTensor I
 Identity matrix for square matrices. More...
 
- Static Public Attributes inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 >
static const direction mRows
 
static const direction nCols
 
- Static Public Attributes inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols >
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 SpatialTensor< Cmpt > zero
 
static const SpatialTensor< Cmpt > one
 
static const SpatialTensor< Cmpt > max
 
static const SpatialTensor< Cmpt > min
 
static const SpatialTensor< Cmpt > rootMax
 
static const SpatialTensor< Cmpt > rootMin
 
static const SpatialTensor< Cmpt > nan
 

Additional Inherited Members

- Public Types inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 >
typedef MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Mrows, Ncols > msType
 MatrixSpace type. More...
 
- Public Types inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols >
typedef VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > vsType
 VectorSpace type. More...
 
typedef Cmpt cmptType
 Component type. More...
 
- Static Public Member Functions inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 >
static direction m ()
 Return the number of rows. More...
 
static direction n ()
 Return the number of columns. More...
 
static msType identityMap ()
 Return the identity matrix for square matrix spaces. More...
 
- Static Public Member Functions inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols >
static direction size ()
 Return the number of elements in the VectorSpace = Ncmpts. More...
 
static SpatialTensor< Cmpt > uniform (const Cmpt &s)
 Return a VectorSpace with all elements = s. More...
 
- Public Attributes inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols >
Cmpt v_ [Ncmpts]
 The components of this vector space. More...
 

Detailed Description

template<class Cmpt>
class Foam::SpatialTensor< Cmpt >

Templated 3D spatial tensor derived from MatrixSpace used to represent transformations of spatial vectors and the angular and linear inertia of rigid bodies.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
Source files
See also
Foam::MatrixSpace Foam::Tensor Foam::SpatialVector

Definition at line 64 of file SpatialTensor.H.

Constructor & Destructor Documentation

◆ SpatialTensor() [1/6]

SpatialTensor
inline

Construct null.

Definition at line 31 of file SpatialTensorI.H.

◆ SpatialTensor() [2/6]

SpatialTensor ( const Foam::zero  )
inline

Construct initialised to zero.

Definition at line 36 of file SpatialTensorI.H.

◆ SpatialTensor() [3/6]

SpatialTensor ( const typename SpatialTensor< Cmpt >::msType ms)
inline

Construct given MatrixSpace of the same rank.

Definition at line 43 of file SpatialTensorI.H.

◆ SpatialTensor() [4/6]

SpatialTensor ( const Tensor< Cmpt > &  t00,
const Tensor< Cmpt > &  t01,
const Tensor< Cmpt > &  t10,
const Tensor< Cmpt > &  t11 
)
inline

Construct given 4 tensor blocks.

Definition at line 53 of file SpatialTensorI.H.

References Tensor< Cmpt >::xx(), Tensor< Cmpt >::xy(), Tensor< Cmpt >::xz(), Tensor< Cmpt >::yx(), Tensor< Cmpt >::yy(), Tensor< Cmpt >::yz(), Tensor< Cmpt >::zx(), Tensor< Cmpt >::zy(), and Tensor< Cmpt >::zz().

Here is the call graph for this function:

◆ SpatialTensor() [5/6]

SpatialTensor ( const Cmpt &  t00,
const Cmpt &  t01,
const Cmpt &  t02,
const Cmpt &  t03,
const Cmpt &  t04,
const Cmpt &  t05,
const Cmpt &  t10,
const Cmpt &  t11,
const Cmpt &  t12,
const Cmpt &  t13,
const Cmpt &  t14,
const Cmpt &  t15,
const Cmpt &  t20,
const Cmpt &  t21,
const Cmpt &  t22,
const Cmpt &  t23,
const Cmpt &  t24,
const Cmpt &  t25,
const Cmpt &  t30,
const Cmpt &  t31,
const Cmpt &  t32,
const Cmpt &  t33,
const Cmpt &  t34,
const Cmpt &  t35,
const Cmpt &  t40,
const Cmpt &  t41,
const Cmpt &  t42,
const Cmpt &  t43,
const Cmpt &  t44,
const Cmpt &  t45,
const Cmpt &  t50,
const Cmpt &  t51,
const Cmpt &  t52,
const Cmpt &  t53,
const Cmpt &  t54,
const Cmpt &  t55 
)
inline

Construct given 36 components.

Definition at line 82 of file SpatialTensorI.H.

◆ SpatialTensor() [6/6]

SpatialTensor ( Istream is)
inline

Construct from Istream.

Definition at line 130 of file SpatialTensorI.H.

Member Data Documentation

◆ rank

const direction rank = 2
static

Rank of Tensor is 2.

Definition at line 74 of file SpatialTensor.H.

◆ I

const Foam::spatialTensor I
static

Identity matrix for square matrices.

Definition at line 80 of file SpatialTensor.H.


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