Quaternion class used to perform rotations in 3D space. More...

#include <OpenFOAM/quaternion.H>

Detailed Description

Quaternion class used to perform rotations in 3D space.

Source files

Definition at line 61 of file quaternion.H.

Collaboration diagram for quaternion:

Public Member Functions
	quaternion ()
	Construct null.
	quaternion (const scalar w, const vector &v)
	Construct given scalar and vector parts.
	quaternion (const vector &d, const scalar theta)
	Construct a rotation quaternion given the direction d.
	quaternion (const scalar w)
	Construct given scalar part, the vector part = vector::zero.
	quaternion (const vector &v)
	Construct a pure quaternion given the vector part, scalar part = 0.
	quaternion (const scalar angleX, const scalar angleY, const scalar angleZ)
	Construct a quaternion given the three Euler angles.
	quaternion (Istream &)
	Construct from Istream.
scalar	w () const
	Scalar part of the quaternion ( = cos(theta/2) for rotation)
const vector &	v () const
	Vector part of the quaternion ( = axis of rotation)
tensor	R () const
	The rotation tensor corresponding the quaternion.
scalar &	w ()
	Scalar part of the quaternion ( = cos(theta/2) for rotation)
vector &	v ()
	Vector part of the quaternion ( = axis of rotation)
void	normalize ()
vector	transform (const vector &v) const
	Rotate the given vector.
vector	invTransform (const vector &v) const
	Rotate the given vector anti-clockwise.
quaternion	transform (const quaternion &q) const
	Rotate the given quaternion (and normalize)
quaternion	invTransform (const quaternion &q) const
	Rotate the given quaternion anti-clockwise (and normalize)
void	operator= (const quaternion &)
void	operator+= (const quaternion &)
void	operator-= (const quaternion &)
void	operator*= (const quaternion &)
void	operator/= (const quaternion &)
void	operator= (const scalar)
void	operator= (const vector &)
void	operator*= (const scalar)
void	operator/= (const scalar)
Static Public Attributes
static const char *const	typeName = "quaternion"
static const quaternion	zero
static const quaternion	I
Friends
Istream &	operator>> (Istream &is, quaternion &)
Ostream &	operator<< (Ostream &os, const quaternion &C)

Constructor & Destructor Documentation

quaternion ( ) [inline]

Construct null.

Definition at line 28 of file quaternionI.H.

quaternion	(	const scalar	w,
		const vector &	v
	)		`[inline]`

Construct given scalar and vector parts.

Definition at line 31 of file quaternionI.H.

quaternion	(	const vector &	d,
		const scalar	theta
	)		`[inline]`

Construct a rotation quaternion given the direction d.

and angle theta

Definition at line 37 of file quaternionI.H.

References quaternion::normalize().

quaternion ( const scalar w ) [inline, explicit]

Construct given scalar part, the vector part = vector::zero.

Definition at line 45 of file quaternionI.H.

quaternion ( const vector & v ) [inline, explicit]

Construct a pure quaternion given the vector part, scalar part = 0.

Definition at line 51 of file quaternionI.H.

quaternion	(	const scalar	angleX,
		const scalar	angleY,
		const scalar	angleZ
	)		`[inline]`

Construct a quaternion given the three Euler angles.

Definition at line 58 of file quaternionI.H.

quaternion ( Istream & is )

Construct from Istream.

Definition at line 38 of file quaternion.C.

Member Function Documentation

Foam::scalar w ( ) const [inline]

Scalar part of the quaternion ( = cos(theta/2) for rotation)

Definition at line 72 of file quaternionI.H.

Referenced by Foam::conjugate(), Foam::inv(), Foam::magSqr(), Foam::name(), Foam::operator&(), Foam::operator*(), quaternion::operator*=(), Foam::operator+(), Foam::operator-(), Foam::operator/(), Foam::operator<<(), Foam::operator==(), and Foam::operator>>().

const Foam::vector & v ( ) const [inline]

Vector part of the quaternion ( = axis of rotation)

Definition at line 78 of file quaternionI.H.

Referenced by Foam::conjugate(), Foam::inv(), Foam::magSqr(), Foam::name(), Foam::operator&(), Foam::operator*(), quaternion::operator*=(), Foam::operator+(), Foam::operator-(), Foam::operator/(), Foam::operator<<(), Foam::operator==(), and Foam::operator>>().

Foam::tensor R ( ) const [inline]

The rotation tensor corresponding the quaternion.

Definition at line 226 of file quaternionI.H.

References Foam::sqr(), and y.

Referenced by Foam::transform().

Foam::scalar & w ( ) [inline]

Scalar part of the quaternion ( = cos(theta/2) for rotation)

Definition at line 84 of file quaternionI.H.

Foam::vector & v ( ) [inline]

Vector part of the quaternion ( = axis of rotation)

Definition at line 90 of file quaternionI.H.

void normalize ( ) [inline]

Definition at line 96 of file quaternionI.H.

References Foam::mag().

Referenced by quaternion::quaternion().

Foam::vector transform ( const vector & v ) const [inline]

Rotate the given vector.

Definition at line 108 of file quaternionI.H.

References Foam::conjugate().

Referenced by Foam::operator*().

Foam::vector invTransform ( const vector & v ) const [inline]

Rotate the given vector anti-clockwise.

Definition at line 114 of file quaternionI.H.

References Foam::conjugate().

Referenced by Foam::inv().

Foam::quaternion transform ( const quaternion & q ) const [inline]

Rotate the given quaternion (and normalize)

Definition at line 120 of file quaternionI.H.

References Foam::normalize().

Foam::quaternion invTransform ( const quaternion & q ) const [inline]

Rotate the given quaternion anti-clockwise (and normalize)

Definition at line 127 of file quaternionI.H.

References Foam::conjugate(), and Foam::normalize().

void operator= ( const quaternion & q ) [inline]

Definition at line 137 of file quaternionI.H.

void operator+= ( const quaternion & q ) [inline]

Definition at line 143 of file quaternionI.H.

void operator-= ( const quaternion & q ) [inline]

Definition at line 149 of file quaternionI.H.

void operator*= ( const quaternion & q ) [inline]

Definition at line 155 of file quaternionI.H.

References quaternion::v(), and quaternion::w().

void operator/= ( const quaternion & q ) [inline]

Definition at line 162 of file quaternionI.H.

References Foam::inv().

void operator= ( const scalar s ) [inline]

Definition at line 168 of file quaternionI.H.

void operator= ( const vector & v ) [inline]

Definition at line 174 of file quaternionI.H.

void operator*= ( const scalar s ) [inline]

Definition at line 180 of file quaternionI.H.

void operator/= ( const scalar s ) [inline]

Definition at line 186 of file quaternionI.H.

Friends And Related Function Documentation

Istream& operator>>	(	Istream &	is,
		quaternion &
	)		`[friend]`

Ostream& operator<<	(	Ostream &	os,
		const quaternion &	C
	)		`[friend]`

Member Data Documentation

const char *const typeName = "quaternion" [static]

Definition at line 80 of file quaternion.H.

const Foam::quaternion zero [static]

Definition at line 82 of file quaternion.H.

const Foam::quaternion I [static]

Definition at line 83 of file quaternion.H.

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

src/OpenFOAM/primitives/quaternion/quaternion.H
src/OpenFOAM/primitives/quaternion/quaternion.C
src/OpenFOAM/primitives/quaternion/quaternionI.H

quaternion Class Reference

Detailed Description

Public Member Functions

Static Public Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation