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

Collaboration diagram for quaternion:

Public Types
enum	{ rank = 1 }

typedef scalar	cmptType
	Component type. More...

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

	quaternion (const scalar w, const vector &v)
	Construct given scalar and vector parts. More...

	quaternion (const vector &d, const scalar theta)
	Construct a rotation quaternion given the direction d. More...

	quaternion (const vector &d, const scalar cosTheta, const bool normalized)
	Construct a rotation quaternion given the direction d. More...

	quaternion (const scalar w)
	Construct given scalar part, the vector part = vector::zero. More...

	quaternion (const vector &v)
	Construct a pure quaternion given the vector part, scalar part = 0. More...

	quaternion (const scalar angleX, const scalar angleY, const scalar angleZ)
	Construct a quaternion given the three Euler angles. More...

	quaternion (const tensor &rotationTensor)
	Construct a quaternion from a rotation tensor. More...

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

scalar	w () const
	Scalar part of the quaternion ( = cos(theta/2) for rotation) More...

const vector &	v () const
	Vector part of the quaternion ( = axis of rotation) More...

tensor	R () const
	The rotation tensor corresponding the quaternion. More...

vector	eulerAngles (const quaternion &q) const
	Return a vector of euler angles (rotations in radians about. More...

quaternion	normalized () const

scalar &	w ()
	Scalar part of the quaternion ( = cos(theta/2) for rotation) More...

vector &	v ()
	Vector part of the quaternion ( = axis of rotation) More...

void	normalize ()

vector	transform (const vector &v) const
	Rotate the given vector. More...

vector	invTransform (const vector &v) const
	Rotate the given vector anti-clockwise. More...

quaternion	transform (const quaternion &q) const
	Rotate the given quaternion (and normalize) More...

quaternion	invTransform (const quaternion &q) const
	Rotate the given quaternion anti-clockwise (and normalize) More...

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

Private Member Functions
quaternion	mulq0v (const vector &v) const
	Multiply vector v by quaternion as if v is a pure quaternion. More...

Private Attributes
scalar	w_
	Scalar part of the quaternion ( = cos(theta/2) for rotation) More...

vector	v_
	Vector part of the quaternion ( = axis of rotation) More...

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

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

Detailed Description

Quaternion class used to perform rotations in 3D space.

Source files

Definition at line 60 of file quaternion.H.

Member Typedef Documentation

◆ cmptType

typedef scalar cmptType

Component type.

Definition at line 78 of file quaternion.H.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
rank

Definition at line 82 of file quaternion.H.

Constructor & Destructor Documentation

◆ quaternion() [1/9]

quaternion ( )

inline

Construct null.

Definition at line 28 of file quaternionI.H.

◆ quaternion() [2/9]

quaternion	(	const scalar	w,
		const vector &	v
	)

inline

Construct given scalar and vector parts.

Definition at line 31 of file quaternionI.H.

◆ quaternion() [3/9]

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.

◆ quaternion() [4/9]

quaternion	(	const vector &	d,
		const scalar	cosTheta,
		const bool	normalized
	)

inline

Construct a rotation quaternion given the direction d.

and cosine angle cosTheta and a if d is normalized

Definition at line 44 of file quaternionI.H.

References Foam::mag(), and Foam::sqrt().

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◆ quaternion() [5/9]

quaternion ( const scalar w )

inlineexplicit

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

Definition at line 63 of file quaternionI.H.

◆ quaternion() [6/9]

quaternion ( const vector & v )

inlineexplicit

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

Definition at line 69 of file quaternionI.H.

◆ quaternion() [7/9]

quaternion	(	const scalar	angleX,
		const scalar	angleY,
		const scalar	angleZ
	)

inline

Construct a quaternion given the three Euler angles.

Definition at line 76 of file quaternionI.H.

◆ quaternion() [8/9]

quaternion ( const tensor & rotationTensor )

inlineexplicit

Construct a quaternion from a rotation tensor.

Definition at line 88 of file quaternionI.H.

References Foam::rotationTensor(), s(), Foam::sqrt(), Tensor::xx(), Tensor::xy(), Tensor::xz(), Tensor::yx(), Tensor::yy(), Tensor::yz(), Tensor::zx(), Tensor::zy(), and Tensor::zz().

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◆ quaternion() [9/9]

quaternion ( Istream & is )

Construct from Istream.

Definition at line 38 of file quaternion.C.

Member Function Documentation

◆ mulq0v()

Foam::quaternion mulq0v ( const vector & v ) const

inlineprivate

Multiply vector v by quaternion as if v is a pure quaternion.

Definition at line 202 of file quaternionI.H.

References w().

Referenced by quaternion::invTransform().

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◆ w() [1/2]

Foam::scalar & w ( ) const

inline

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

Definition at line 166 of file quaternionI.H.

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

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◆ v() [1/2]

Foam::vector & v ( ) const

inline

Vector part of the quaternion ( = axis of rotation)

Definition at line 172 of file quaternionI.H.

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

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◆ R()

Foam::tensor R ( ) const

inline

The rotation tensor corresponding the quaternion.

Definition at line 235 of file quaternionI.H.

References Foam::sqr(), w(), x, and y.

Referenced by surfaceAlignedSBRStressFvMotionSolver::calculateCellRot(), main(), Foam::transform(), and triad::triad().

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◆ eulerAngles()

Foam::vector eulerAngles ( const quaternion & q ) const

inline

Return a vector of euler angles (rotations in radians about.

the x, y and z axes.

Definition at line 258 of file quaternionI.H.

References Foam::asin(), Foam::atan2(), Foam::sqr(), quaternion::v(), w(), quaternion::w(), Vector< Cmpt >::x(), Vector< Cmpt >::y(), Vector< Cmpt >::z(), and Vector< scalar >::zero.

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◆ normalized()

Foam::quaternion normalized ( ) const

inline

Definition at line 190 of file quaternionI.H.

References Foam::mag().

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◆ w() [2/2]

scalar& w ( )

inline

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

◆ v() [2/2]

vector& v ( )

inline

Vector part of the quaternion ( = axis of rotation)

◆ normalize()

void normalize ( )

inline

Definition at line 196 of file quaternionI.H.

References Foam::mag().

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◆ transform() [1/2]

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

inline

Rotate the given vector.

Definition at line 208 of file quaternionI.H.

References Foam::conjugate().

Referenced by main(), and Foam::operator*().

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◆ invTransform() [1/2]

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

inline

Rotate the given vector anti-clockwise.

Definition at line 214 of file quaternionI.H.

References Foam::conjugate(), and quaternion::mulq0v().

Referenced by main().

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◆ transform() [2/2]

Foam::quaternion transform ( const quaternion & q ) const

inline

Rotate the given quaternion (and normalize)

Definition at line 220 of file quaternionI.H.

References Foam::normalize().

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◆ invTransform() [2/2]

Foam::quaternion invTransform ( const quaternion & q ) const

inline

Rotate the given quaternion anti-clockwise (and normalize)

Definition at line 227 of file quaternionI.H.

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

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◆ operator=() [1/3]

void operator= ( const quaternion & q )

inline

Definition at line 289 of file quaternionI.H.

References quaternion::v_, and quaternion::w_.

◆ operator+=()

void operator+= ( const quaternion & q )

inline

Definition at line 295 of file quaternionI.H.

References quaternion::v_, and quaternion::w_.

◆ operator-=()

void operator-= ( const quaternion & q )

inline

Definition at line 301 of file quaternionI.H.

References quaternion::v_, and quaternion::w_.

◆ operator*=() [1/2]

void operator*= ( const quaternion & q )

inline

Definition at line 307 of file quaternionI.H.

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

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◆ operator/=() [1/2]

void operator/= ( const quaternion & q )

inline

Definition at line 314 of file quaternionI.H.

References Foam::inv().

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◆ operator=() [2/3]

void operator= ( const scalar s )

inline

Definition at line 320 of file quaternionI.H.

References s().

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◆ operator=() [3/3]

void operator= ( const vector & v )

inline

Definition at line 326 of file quaternionI.H.

◆ operator*=() [2/2]

void operator*= ( const scalar s )

inline

Definition at line 332 of file quaternionI.H.

References s().

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◆ operator/=() [2/2]

void operator/= ( const scalar s )

inline

Definition at line 338 of file quaternionI.H.

References s().

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Friends And Related Function Documentation

◆ operator>>

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

friend

◆ operator<<

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

friend

Field Documentation

◆ w_

scalar w_

private

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

Definition at line 65 of file quaternion.H.

Referenced by quaternion::operator+=(), quaternion::operator-=(), and quaternion::operator=().

◆ v_

vector v_

private

Vector part of the quaternion ( = axis of rotation)

Definition at line 68 of file quaternion.H.

Referenced by quaternion::operator+=(), quaternion::operator-=(), and quaternion::operator=().

◆ typeName

const char *const typeName = "quaternion"

static

Definition at line 90 of file quaternion.H.

◆ zero

const Foam::quaternion zero

static

Definition at line 92 of file quaternion.H.

◆ I

const Foam::quaternion I

static

Definition at line 93 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

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ cmptType

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ quaternion() [1/9]

◆ quaternion() [2/9]

◆ quaternion() [3/9]

◆ quaternion() [4/9]

◆ quaternion() [5/9]

◆ quaternion() [6/9]

◆ quaternion() [7/9]

◆ quaternion() [8/9]

◆ quaternion() [9/9]

Member Function Documentation

◆ mulq0v()

◆ w() [1/2]

◆ v() [1/2]

◆ R()

◆ eulerAngles()

◆ normalized()

◆ w() [2/2]

◆ v() [2/2]

◆ normalize()

◆ transform() [1/2]

◆ invTransform() [1/2]

◆ transform() [2/2]

◆ invTransform() [2/2]

◆ operator=() [1/3]

◆ operator+=()

◆ operator-=()

◆ operator*=() [1/2]

◆ operator/=() [1/2]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator*=() [2/2]

◆ operator/=() [2/2]

Friends And Related Function Documentation

◆ operator>>

◆ operator<<

Field Documentation

◆ w_

◆ v_

◆ typeName

◆ zero

◆ I