septernion Class Reference | OpenFOAM Source Code Guide

The OpenFOAM Foundation

Septernion class used to perform translations and rotations in 3D space. More...

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

	septernion (const vector &t, const quaternion &r)
	Construct given a translation vector and rotation quaternion. More...

	septernion (const vector &t)
	Construct a pure translation septernion given a translation vector. More...

	septernion (const quaternion &r)
	Construct a pure rotation septernion given a rotation quaternion. More...

	septernion (const spatialTransform &st)
	Construct a general septernion from the given spatialTransform. More...

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

const vector &	t () const

const quaternion &	r () const

vector &	t ()

quaternion &	r ()

vector	transformPoint (const vector &v) const
	Transform the given coordinate point. More...

vector	invTransformPoint (const vector &v) const
	Inverse Transform the given coordinate point. More...

void	operator= (const septernion &)

void	operator*= (const septernion &)

void	operator= (const vector &)

void	operator+= (const vector &)

void	operator-= (const vector &)

void	operator= (const quaternion &)

void	operator*= (const quaternion &)

void	operator/= (const quaternion &)

void	operator*= (const scalar)

void	operator/= (const scalar)

Static Public Attributes
static const char *const	typeName = "septernion"

static const septernion	zero

static const septernion	I

Friends
Istream &	operator>> (Istream &is, septernion &)

Ostream &	operator<< (Ostream &os, const septernion &C)

Detailed Description

Septernion class used to perform translations and rotations in 3D space.

It is composed of a translation vector and rotation quaternion and as such has seven components hence the name "septernion" from the Latin to be consistent with quaternion rather than "hepternion" derived from the Greek.

Source files

Definition at line 65 of file septernion.H.

Constructor & Destructor Documentation

septernion ( )

inline

Construct null.

Definition at line 28 of file septernionI.H.

Referenced by Foam::inv(), Foam::operator*(), Foam::operator+(), Foam::operator-(), Foam::operator/(), and Foam::slerp().

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septernion	(	const vector &	t,
		const quaternion &	r
	)

inline

Construct given a translation vector and rotation quaternion.

Definition at line 31 of file septernionI.H.

septernion ( const vector & t )

inlineexplicit

Construct a pure translation septernion given a translation vector.

Definition at line 37 of file septernionI.H.

septernion ( const quaternion & r )

inlineexplicit

Construct a pure rotation septernion given a rotation quaternion.

Definition at line 43 of file septernionI.H.

septernion ( const spatialTransform & st )

inlineexplicit

Construct a general septernion from the given spatialTransform.

Definition at line 49 of file septernionI.H.

septernion ( Istream & is )

Construct from Istream.

Definition at line 46 of file septernion.C.

Member Function Documentation

const Foam::vector & t ( ) const

inline

Definition at line 58 of file septernionI.H.

Referenced by Foam::average(), Foam::contiguous< septernion >(), Foam::inv(), septernion::invTransformPoint(), Foam::name(), Foam::operator*(), septernion::operator*=(), Foam::operator+(), septernion::operator+=(), Foam::operator-(), septernion::operator-=(), Foam::operator/(), Foam::operator<<(), septernion::operator=(), Foam::operator==(), Foam::operator>>(), Foam::slerp(), septernion::transformPoint(), and Foam::transformPoints().

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const Foam::quaternion & r ( ) const

inline

Definition at line 64 of file septernionI.H.

Referenced by Foam::average(), Foam::contiguous< septernion >(), Foam::inv(), septernion::invTransformPoint(), Foam::name(), Foam::operator*(), septernion::operator*=(), Foam::operator+(), Foam::operator-(), Foam::operator/(), septernion::operator/=(), Foam::operator<<(), septernion::operator=(), Foam::operator==(), Foam::operator>>(), Foam::slerp(), septernion::transformPoint(), and Foam::transformPoints().

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Foam::vector & t ( )

inline

Definition at line 70 of file septernionI.H.

Foam::quaternion & r ( )

inline

Definition at line 76 of file septernionI.H.

Foam::vector transformPoint ( const vector & v ) const

inline

Transform the given coordinate point.

Definition at line 82 of file septernionI.H.

References septernion::r(), septernion::t(), and quaternion::transform().

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Foam::vector invTransformPoint ( const vector & v ) const

inline

Inverse Transform the given coordinate point.

Definition at line 88 of file septernionI.H.

References quaternion::invTransform(), septernion::r(), and septernion::t().

Referenced by sixDoFRigidBodyMotion::transform().

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void operator= ( const septernion & tr )

inline

Definition at line 96 of file septernionI.H.

void operator*= ( const septernion & tr )

inline

Definition at line 102 of file septernionI.H.

References quaternion::invTransform(), septernion::r(), and septernion::t().

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void operator= ( const vector & t )

inline

Definition at line 109 of file septernionI.H.

References quaternion::I, and septernion::t().

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void operator+= ( const vector & t )

inline

Definition at line 115 of file septernionI.H.

References septernion::t().

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void operator-= ( const vector & t )

inline

Definition at line 120 of file septernionI.H.

References septernion::t().

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void operator= ( const quaternion & r )

inline

Definition at line 126 of file septernionI.H.

References septernion::r(), and Foam::Zero.

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void operator*= ( const quaternion & r )

inline

Definition at line 132 of file septernionI.H.

References quaternion::invTransform(), and septernion::r().

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void operator/= ( const quaternion & r )

inline

Definition at line 138 of file septernionI.H.

References septernion::r(), and quaternion::transform().

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void operator*= ( const scalar s )

inline

Definition at line 145 of file septernionI.H.

References s().

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void operator/= ( const scalar s )

inline

Definition at line 151 of file septernionI.H.

References s().

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Friends And Related Function Documentation

Istream& operator>>	(	Istream &	is,
		septernion &
	)

friend

Ostream& operator<<	(	Ostream &	os,
		const septernion &	C
	)

friend

Member Data Documentation

const char *const typeName = "septernion"

static

Definition at line 80 of file septernion.H.

const Foam::septernion zero

static

Definition at line 82 of file septernion.H.

const Foam::septernion I

static

Definition at line 83 of file septernion.H.

Referenced by sixDoFRigidBodyMotion::transform(), and rigidBodyMotion::transformPoints().

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

src/OpenFOAM/primitives/septernion/septernion.H
src/OpenFOAM/primitives/septernion/septernion.C
src/OpenFOAM/primitives/septernion/septernionI.H