Templated 3D spatial vector derived from VectorSpace used to represent the anglular and linear components of position, velocity and acceleration of rigid bodies. More...
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 initialized 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 initialized 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 |
Templated 3D spatial vector derived from VectorSpace used to represent the anglular and linear components of position, velocity and acceleration of rigid bodies.
Featherstone, R. (2008). Rigid body dynamics algorithms. Springer.
Definition at line 62 of file SpatialVector.H.
enum components |
Component labeling enumeration.
Enumerator | |
---|---|
WX | |
WY | |
WZ | |
LX | |
LY | |
LZ |
Definition at line 70 of file SpatialVector.H.
|
inline |
Construct null.
Definition at line 29 of file SpatialVectorI.H.
Referenced by SpatialVector< scalar >::SpatialVector().
|
inline |
Construct initialized to zero.
Definition at line 34 of file SpatialVectorI.H.
|
inline |
Construct given VectorSpace of the same rank.
Definition at line 42 of file SpatialVectorI.H.
|
inline |
Construct from the angular and linear vector components.
Definition at line 52 of file SpatialVectorI.H.
|
inline |
Construct given 6 components.
Definition at line 68 of file SpatialVectorI.H.
|
inline |
Construct from Istream.
Definition at line 87 of file SpatialVectorI.H.
|
inline |
Definition at line 103 of file SpatialVectorI.H.
Referenced by Rx::jcalc(), and Foam::operator^().
|
inline |
Definition at line 110 of file SpatialVectorI.H.
Referenced by Ry::jcalc(), and Foam::operator^().
|
inline |
Definition at line 117 of file SpatialVectorI.H.
Referenced by Rz::jcalc(), and Foam::operator^().
|
inline |
Definition at line 124 of file SpatialVectorI.H.
Referenced by Foam::operator^().
|
inline |
Definition at line 131 of file SpatialVectorI.H.
Referenced by Foam::operator^().
|
inline |
Definition at line 138 of file SpatialVectorI.H.
Referenced by Foam::operator^().
|
inline |
Definition at line 145 of file SpatialVectorI.H.
|
inline |
Definition at line 152 of file SpatialVectorI.H.
|
inline |
Definition at line 159 of file SpatialVectorI.H.
|
inline |
Definition at line 166 of file SpatialVectorI.H.
|
inline |
Definition at line 173 of file SpatialVectorI.H.
|
inline |
Definition at line 180 of file SpatialVectorI.H.
|
inline |
Return the angular part of the spatial vector as a vector.
Definition at line 187 of file SpatialVectorI.H.
Referenced by rigidBodyMotion::status().
|
inline |
Return the linear part of the spatial vector as a vector.
Definition at line 193 of file SpatialVectorI.H.
Referenced by rigidBodyMotion::status().
|
inline |
Return the dual spatial vector.
Definition at line 210 of file SpatialVectorI.H.