Templated 3D spatial vector derived from VectorSpace used to represent the anglular and linear components of position, velocity and acceleration of rigid bodies. More...

#include <SpatialVector.H>

Inheritance diagram for SpatialVector< Cmpt >:

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Collaboration diagram for SpatialVector< Cmpt >:

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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.
typedef Cmpt	cmptType
	Component type.
typedef Cmpt	magType
	Magnitude type.
typedef direction	size_type
	The type to represent the size of a VectorSpace.
typedef Cmpt *	iterator
	Random access iterator for traversing VectorSpace.
typedef const Cmpt *	const_iterator
	Random access iterator for traversing VectorSpace.

Public Member Functions
	SpatialVector ()=default
	Default construct.
	SpatialVector (const Foam::zero)
	Construct initialized to zero.
	SpatialVector (const typename SpatialVector::vsType &)
	Construct given VectorSpace of the same rank.
	SpatialVector (const Vector< Cmpt > &w, const Vector< Cmpt > &l)
	Construct from the angular and linear vector components.
	SpatialVector (const Cmpt &wx, const Cmpt &wy, const Cmpt &wz, const Cmpt &lx, const Cmpt &ly, const Cmpt &lz)
	Construct given 6 components.
	SpatialVector (Istream &)
	Construct from Istream.
const Cmpt &	wx () const noexcept
const Cmpt &	wy () const noexcept
const Cmpt &	wz () const noexcept
const Cmpt &	lx () const noexcept
const Cmpt &	ly () const noexcept
const Cmpt &	lz () const noexcept
Cmpt &	wx () noexcept
Cmpt &	wy () noexcept
Cmpt &	wz () noexcept
Cmpt &	lx () noexcept
Cmpt &	ly () noexcept
Cmpt &	lz () noexcept
Vector< Cmpt >	w () const
	Return the angular part of the spatial vector as a vector.
Vector< Cmpt >	l () const
	Return the linear part of the spatial vector as a vector.
dual	operator* () const
	Return the dual spatial vector.
Public Member Functions inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
const Foam::VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts >::template ConstBlock< SubVector, BStart >	block () const
	VectorSpace ()=default
	Default construct.
const Cmpt &	component (const direction) const
void	replace (const direction, const Cmpt &)
const Cmpt *	cdata () const noexcept
	Return const pointer to the first data element.
Cmpt *	data () noexcept
	Return pointer to the first data element.
void	fill (const Cmpt &s)
	Assign all components to given value.
const Cmpt &	operator[] (const direction) const
void	operator= (const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts > &)
void	operator+= (const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts > &)
void	operator-= (const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts > &)
void	operator*= (const scalar)
void	operator/= (const scalar)
iterator	begin () noexcept
	Return an iterator (pointer) to begin of VectorSpace.
const_iterator	cbegin () const noexcept
	Return const_iterator (const pointer) to begin of VectorSpace.
iterator	end () noexcept
	Return an iterator (pointer) to end of VectorSpace.
const_iterator	cend () const noexcept
	Return const_iterator (const pointer) to end of VectorSpace.

Additional Inherited Members
Static Public Member Functions inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
static constexpr direction	size () noexcept
	The number of elements in the VectorSpace = Ncmpts.
static SpatialVector< Cmpt >	uniform (const Cmpt &s)
	Return a VectorSpace with all elements = s.
Public Attributes inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
Cmpt	v_ [Ncmpts]
	The components of this vector space.
Static Public Attributes inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
static constexpr direction	dim
	Dimensionality of space.
static constexpr direction	nComponents
	Number of components in this vector space.
static constexpr direction	mRows
static constexpr 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

Detailed Description

template<class Cmpt>
class Foam::SpatialVector< Cmpt >

Templated 3D spatial vector derived from VectorSpace used to represent the anglular and linear components of position, velocity and acceleration of rigid bodies.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.

Source files

See also: Foam::VectorSpace Foam::Vector

Definition at line 61 of file SpatialVector.H.

Member Enumeration Documentation

◆ components

template<class Cmpt>

enum components

Component labeling enumeration.

Enumerator
WX
WY
WZ
LX
LY
LZ

Definition at line 71 of file SpatialVector.H.

Constructor & Destructor Documentation

◆ SpatialVector() [1/6]

template<class Cmpt>

SpatialVector ( )

default

Default construct.

Referenced by SpatialVector< Cmpt >::dual::dual(), SpatialVector(), SpatialVector(), and SpatialVector().

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◆ SpatialVector() [2/6]

template<class Cmpt>

SpatialVector ( const Foam::zero )

inline

Construct initialized to zero.

Definition at line 24 of file SpatialVectorI.H.

References SpatialVector(), and Foam::Zero.

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◆ SpatialVector() [3/6]

template<class Cmpt>

SpatialVector ( const typename SpatialVector< Cmpt >::vsType & vs )

inline

Construct given VectorSpace of the same rank.

Definition at line 31 of file SpatialVectorI.H.

References SpatialVector().

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◆ SpatialVector() [4/6]

template<class Cmpt>

SpatialVector	(	const Vector< Cmpt > &	w,
		const Vector< Cmpt > &	l )

inline

Construct from the angular and linear vector components.

Definition at line 41 of file SpatialVectorI.H.

References l(), LX, LY, LZ, VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >::v_, w(), WX, WY, and WZ.

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◆ SpatialVector() [5/6]

template<class Cmpt>

SpatialVector	(	const Cmpt &	wx,
		const Cmpt &	wy,
		const Cmpt &	wz,
		const Cmpt &	lx,
		const Cmpt &	ly,
		const Cmpt &	lz )

inline

Construct given 6 components.

Definition at line 57 of file SpatialVectorI.H.

References LX, LY, LZ, VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >::v_, WX, WY, and WZ.

◆ SpatialVector() [6/6]

template<class Cmpt>

SpatialVector ( Istream & is )

inlineexplicit

Construct from Istream.

Definition at line 77 of file SpatialVectorI.H.

References SpatialVector().

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Member Function Documentation

◆ wx() [1/2]

template<class Cmpt>

const Cmpt & wx ( ) const

inlinenoexcept

Definition at line 144 of file SpatialVector.H.

Referenced by Rx::jcalc(), Foam::operator^(), and Foam::operator^().

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◆ wy() [1/2]

template<class Cmpt>

const Cmpt & wy ( ) const

inlinenoexcept

Definition at line 145 of file SpatialVector.H.

Referenced by Ry::jcalc(), Foam::operator^(), and Foam::operator^().

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◆ wz() [1/2]

template<class Cmpt>

const Cmpt & wz ( ) const

inlinenoexcept

Definition at line 146 of file SpatialVector.H.

Referenced by Rz::jcalc(), Foam::operator^(), and Foam::operator^().

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◆ lx() [1/2]

template<class Cmpt>

const Cmpt & lx ( ) const

inlinenoexcept

Definition at line 148 of file SpatialVector.H.

Referenced by Foam::operator^(), and Foam::operator^().

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◆ ly() [1/2]

template<class Cmpt>

const Cmpt & ly ( ) const

inlinenoexcept

Definition at line 149 of file SpatialVector.H.

Referenced by Foam::operator^(), and Foam::operator^().

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◆ lz() [1/2]

template<class Cmpt>

const Cmpt & lz ( ) const

inlinenoexcept

Definition at line 150 of file SpatialVector.H.

Referenced by Foam::operator^(), and Foam::operator^().

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◆ wx() [2/2]

template<class Cmpt>

Cmpt & wx ( )

inlinenoexcept

Definition at line 152 of file SpatialVector.H.

◆ wy() [2/2]

template<class Cmpt>

Cmpt & wy ( )

inlinenoexcept

Definition at line 153 of file SpatialVector.H.

◆ wz() [2/2]

template<class Cmpt>

Cmpt & wz ( )

inlinenoexcept

Definition at line 154 of file SpatialVector.H.

◆ lx() [2/2]

template<class Cmpt>

Cmpt & lx ( )

inlinenoexcept

Definition at line 156 of file SpatialVector.H.

◆ ly() [2/2]

template<class Cmpt>

Cmpt & ly ( )

inlinenoexcept

Definition at line 157 of file SpatialVector.H.

◆ lz() [2/2]

template<class Cmpt>

Cmpt & lz ( )

inlinenoexcept

Definition at line 158 of file SpatialVector.H.

◆ w()

template<class Cmpt>

Foam::Vector< Cmpt > w ( ) const

inline

Return the angular part of the spatial vector as a vector.

Definition at line 93 of file SpatialVectorI.H.

References VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >::v_, WX, WY, and WZ.

Referenced by SpatialVector().

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◆ l()

template<class Cmpt>

Foam::Vector< Cmpt > l ( ) const

inline

Return the linear part of the spatial vector as a vector.

Definition at line 99 of file SpatialVectorI.H.

References LX, LY, LZ, and VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >::v_.

Referenced by SpatialVector(), and rigidBodyMotion::vCofR().

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◆ operator*()

template<class Cmpt>

Foam::SpatialVector< Cmpt >::dual operator* ( ) const

inline

Return the dual spatial vector.

Definition at line 116 of file SpatialVectorI.H.

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

src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVector.H
src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVectorI.H

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ components

Constructor & Destructor Documentation

◆ SpatialVector() [1/6]

◆ SpatialVector() [2/6]

◆ SpatialVector() [3/6]

◆ SpatialVector() [4/6]

◆ SpatialVector() [5/6]

◆ SpatialVector() [6/6]

Member Function Documentation

◆ wx() [1/2]

◆ wy() [1/2]

◆ wz() [1/2]

◆ lx() [1/2]

◆ ly() [1/2]

◆ lz() [1/2]

◆ wx() [2/2]

◆ wy() [2/2]

◆ wz() [2/2]

◆ lx() [2/2]

◆ ly() [2/2]

◆ lz() [2/2]

◆ w()

◆ l()

◆ operator*()