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

Collaboration diagram for quaternion:

Public Types
enum	eulerOrder : unsigned char { XZX, XYX, YXY, YZY, ZYZ, ZXZ, XZY, XYZ, YXZ, YZX, ZYX, ZXY }

typedef scalar	cmptType

typedef scalar	magType

Public Member Functions
	quaternion ()=default

	quaternion (const quaternion &)=default

quaternion &	operator= (const quaternion &)=default

	quaternion (const Foam::zero)

	quaternion (const scalar w, const vector &v)

	quaternion (const vector &d, const scalar theta)

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

	quaternion (const scalar w)

	quaternion (const vector &v)

	quaternion (const eulerOrder order, const vector &angles)

	quaternion (const tensor &rotationTensor)

	quaternion (Istream &is)

scalar	w () const

const vector &	v () const

tensor	R () const

vector	eulerAngles (const eulerOrder order) const

quaternion	normalized () const

scalar &	w ()

vector &	v ()

void	normalize ()

vector	transform (const vector &v) const

vector	invTransform (const vector &v) const

quaternion	transform (const quaternion &q) const

quaternion	invTransform (const quaternion &q) const

void	operator+= (const quaternion &q)

void	operator-= (const quaternion &q)

void	operator*= (const quaternion &q)

void	operator/= (const quaternion &q)

void	operator= (const scalar s)

void	operator= (const vector &v)

void	operator*= (const scalar s)

void	operator/= (const scalar s)

Static Public Member Functions
static quaternion	unit (const vector &v)

Static Public Attributes
static const Enum< eulerOrder >	eulerOrderNames

static constexpr direction	rank = 1

static constexpr const char *const	typeName = "quaternion"

static const quaternion	zero

static const quaternion	I

Detailed Description

Quaternion class used to perform rotations in 3D space.

Source files

Definition at line 52 of file quaternion.H.

Member Typedef Documentation

◆ cmptType

typedef scalar cmptType

Definition at line 92 of file quaternion.H.

◆ magType

typedef scalar magType

Definition at line 95 of file quaternion.H.

Member Enumeration Documentation

◆ eulerOrder

enum eulerOrder : unsigned char

Enumerator
XZX
XYX
YXY
YZY
ZYZ
ZXZ
XZY
XYZ
YXZ
YZX
ZYX
ZXY

Definition at line 98 of file quaternion.H.

Constructor & Destructor Documentation

◆ quaternion() [1/11]

quaternion ( )

default

◆ quaternion() [2/11]

quaternion ( const quaternion & )

default

◆ quaternion() [3/11]

quaternion ( const Foam::zero )

inline

Definition at line 24 of file quaternionI.H.

◆ quaternion() [4/11]

quaternion	(	const scalar	w,
		const vector &	v
	)

inline

Definition at line 31 of file quaternionI.H.

◆ quaternion() [5/11]

quaternion	(	const vector &	d,
		const scalar	theta
	)

inline

Definition at line 38 of file quaternionI.H.

◆ quaternion() [6/11]

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

inline

Definition at line 46 of file quaternionI.H.

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

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◆ quaternion() [7/11]

quaternion ( const scalar w )

inlineexplicit

Definition at line 66 of file quaternionI.H.

◆ quaternion() [8/11]

quaternion ( const vector & v )

inlineexplicit

Definition at line 73 of file quaternionI.H.

◆ quaternion() [9/11]

quaternion	(	const eulerOrder	order,
		const vector &	angles
	)

inline

Definition at line 87 of file quaternionI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, quaternion::quaternion(), Vector< Cmpt >::x(), Vector< Cmpt >::y(), and Vector< Cmpt >::z().

Referenced by quaternion::quaternion().

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◆ quaternion() [10/11]

quaternion ( const tensor & rotationTensor )

inlineexplicit

Definition at line 200 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() [11/11]

quaternion ( Istream & is )

explicit

Definition at line 54 of file quaternion.C.

Member Function Documentation

◆ operator=() [1/3]

quaternion& operator= ( const quaternion & )

default

◆ unit()

Foam::quaternion unit ( const vector & v )

inlinestatic

Definition at line 80 of file quaternionI.H.

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

Referenced by joint::unitQuaternion().

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◆ w() [1/2]

Foam::scalar & w ( ) const

inline

Definition at line 278 of file quaternionI.H.

Referenced by Foam::conjugate(), 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

Definition at line 284 of file quaternionI.H.

Referenced by Foam::conjugate(), 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>>(), Foam::pow(), and joint::unitQuaternion().

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◆ R()

Foam::tensor R ( ) const

inline

Definition at line 347 of file quaternionI.H.

References Foam::sqr(), w2, x, and y.

Referenced by axisAngle::rotation(), Foam::transform(), and triad::triad().

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◆ eulerAngles()

Foam::vector eulerAngles ( const eulerOrder order ) const

inline

Definition at line 397 of file quaternionI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, Foam::sqr(), w2, x, y, and Foam::Zero.

Referenced by sixDoFRigidBodyState::write().

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◆ normalized()

Foam::quaternion normalized ( ) const

inline

Definition at line 302 of file quaternionI.H.

References Foam::mag().

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◆ w() [2/2]

scalar& w ( )

inline

◆ v() [2/2]

vector& v ( )

inline

◆ normalize()

void normalize ( )

inline

Definition at line 308 of file quaternionI.H.

References Foam::mag().

Referenced by Foam::average().

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◆ transform() [1/2]

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

inline

Definition at line 320 of file quaternionI.H.

References Foam::conjugate().

Referenced by searchableExtrudedCircle::findParametricNearest(), polyline::operator()(), Foam::operator*(), Foam::operator/(), and septernion::operator/=().

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◆ invTransform() [1/2]

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

inline

Definition at line 326 of file quaternionI.H.

References Foam::conjugate().

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

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◆ transform() [2/2]

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

inline

Definition at line 332 of file quaternionI.H.

References Foam::normalize().

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◆ invTransform() [2/2]

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

inline

Definition at line 339 of file quaternionI.H.

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

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◆ operator+=()

void operator+= ( const quaternion & q )

inline

Definition at line 577 of file quaternionI.H.

◆ operator-=()

void operator-= ( const quaternion & q )

inline

Definition at line 583 of file quaternionI.H.

◆ operator*=() [1/2]

void operator*= ( const quaternion & q )

inline

Definition at line 589 of file quaternionI.H.

References quaternion::v(), quaternion::w(), and w0.

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◆ operator/=() [1/2]

void operator/= ( const quaternion & q )

inline

Definition at line 596 of file quaternionI.H.

References Foam::inv().

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◆ operator=() [2/3]

void operator= ( const scalar s )

inline

Definition at line 602 of file quaternionI.H.

References s.

◆ operator=() [3/3]

void operator= ( const vector & v )

inline

Definition at line 608 of file quaternionI.H.

◆ operator*=() [2/2]

void operator*= ( const scalar s )

inline

Definition at line 614 of file quaternionI.H.

References s.

◆ operator/=() [2/2]

void operator/= ( const scalar s )

inline

Definition at line 620 of file quaternionI.H.

References s.

Member Data Documentation

◆ eulerOrderNames

const Foam::Enum< Foam::quaternion::eulerOrder > eulerOrderNames

static

Definition at line 108 of file quaternion.H.

Referenced by lumpedPointMovement::readDict(), lumpedPointState::writeDict(), and euler::writeEntry().

◆ rank

constexpr direction rank = 1

staticconstexpr

Definition at line 114 of file quaternion.H.

◆ typeName

constexpr const char* const typeName = "quaternion"

staticconstexpr

Definition at line 119 of file quaternion.H.

◆ zero

const Foam::quaternion zero

static

Definition at line 121 of file quaternion.H.

◆ I

const Foam::quaternion I

static

Definition at line 122 of file quaternion.H.

Referenced by septernion::operator=().

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 Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ cmptType

◆ magType

Member Enumeration Documentation

◆ eulerOrder

Constructor & Destructor Documentation

◆ quaternion() [1/11]

◆ quaternion() [2/11]

◆ quaternion() [3/11]

◆ quaternion() [4/11]

◆ quaternion() [5/11]

◆ quaternion() [6/11]

◆ quaternion() [7/11]

◆ quaternion() [8/11]

◆ quaternion() [9/11]

◆ quaternion() [10/11]

◆ quaternion() [11/11]

Member Function Documentation

◆ operator=() [1/3]

◆ unit()

◆ 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+=()

◆ operator-=()

◆ operator*=() [1/2]

◆ operator/=() [1/2]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator*=() [2/2]

◆ operator/=() [2/2]

Member Data Documentation

◆ eulerOrderNames

◆ rank

◆ typeName

◆ zero

◆ I