septernion Class Reference

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 (Istream &)
	Construct from Istream. More...
const vector &	t () const
const quaternion &	r () const
vector &	t ()
quaternion &	r ()
vector	transform (const vector &v) const
	Transform the given vector. More...
vector	invTransform (const vector &v) const
	Inverse Transform the given vector. 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

Private Attributes
vector	t_
	Translation vector. More...
quaternion	r_
	Rotation quaternion. More...

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

• septernion.H
• septernionI.H
• septernion.C

Definition at line 64 of file septernion.H.

Constructor & Destructor Documentation

septernion() [1/5]

septernion ( )

inline

Construct null.

Definition at line 28 of file septernionI.H.

septernion() [2/5]

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() [3/5]

septernion ( const vector &  t )

inlineexplicit

Construct a pure translation septernion given a translation vector.

Definition at line 37 of file septernionI.H.

septernion() [4/5]

septernion ( const quaternion &  r )

inlineexplicit

Construct a pure rotation septernion given a rotation quaternion.

Definition at line 43 of file septernionI.H.

septernion() [5/5]

septernion

(

Istream &

is

)

Construct from Istream.

Definition at line 46 of file septernion.C.

Member Function Documentation

t() [1/2]

Foam::vector & t ( ) const

inline

Definition at line 52 of file septernionI.H.

Referenced by Foam::operator*(), Foam::operator==(), and Foam::slerp().

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r() [1/2]

Foam::quaternion & r ( ) const

inline

Definition at line 58 of file septernionI.H.

Referenced by Foam::operator*(), Foam::operator==(), and Foam::slerp().

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t() [2/2]

vector& t ( )

inline

r() [2/2]

quaternion& r ( )

inline

transform()

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

inline

Transform the given vector.

Definition at line 76 of file septernionI.H.

Referenced by sixDoFRigidBodyMotion::transform().

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invTransform()

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

inline

Inverse Transform the given vector.

Definition at line 82 of file septernionI.H.

operator=() [1/3]

void operator= ( const septernion &  tr )

inline

Definition at line 90 of file septernionI.H.

References Foam::tr().

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operator*=() [1/3]

void operator*= ( const septernion &  tr )

inline

Definition at line 96 of file septernionI.H.

References Foam::tr().

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operator=() [2/3]

void operator= ( const vector &  t )

inline

Definition at line 103 of file septernionI.H.

operator+=()

void operator+= ( const vector &  t )

inline

Definition at line 108 of file septernionI.H.

operator-=()

void operator-= ( const vector &  t )

inline

Definition at line 113 of file septernionI.H.

operator=() [3/3]

void operator= ( const quaternion &  r )

inline

Definition at line 119 of file septernionI.H.

operator*=() [2/3]

void operator*= ( const quaternion &  r )

inline

Definition at line 124 of file septernionI.H.

operator/=() [1/2]

void operator/= ( const quaternion &  r )

inline

Definition at line 129 of file septernionI.H.

operator*=() [3/3]

void operator*= ( const scalar  s )

inline

Definition at line 135 of file septernionI.H.

References s().

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operator/=() [2/2]

void operator/= ( const scalar  s )

inline

Definition at line 141 of file septernionI.H.

References s().

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Friends And Related Function Documentation

operator>>

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

friend

operator<<

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

friend

Field Documentation

t_

vector t_

private

Translation vector.

Definition at line 69 of file septernion.H.

r_

quaternion r_

private

Rotation quaternion.

Definition at line 72 of file septernion.H.

typeName

const char *const typeName = "septernion"

static

Definition at line 79 of file septernion.H.

zero

const Foam::septernion zero

static

Definition at line 81 of file septernion.H.

I

const Foam::septernion I

static

Definition at line 82 of file septernion.H.

Referenced by sixDoFRigidBodyMotion::transform().

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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