-
Notifications
You must be signed in to change notification settings - Fork 604
/
CompactSpatialTensor.H
144 lines (102 loc) · 3.91 KB
/
CompactSpatialTensor.H
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
OpenFOAM is free software: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
for more details.
You should have received a copy of the GNU General Public License
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
Class
Foam::CompactSpatialTensor
Description
Templated 3D compact spatial tensor derived from MatrixSpace used to
represent transformations of spatial vectors and the angular and linear
inertia of rigid bodies.
Reference:
\verbatim
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
\endverbatim
SourceFiles
CompactSpatialTensorI.H
SeeAlso
Foam::MatrixSpace
Foam::SpatialTensor
\*---------------------------------------------------------------------------*/
#ifndef CompactSpatialTensor_H
#define CompactSpatialTensor_H
#include "SpatialTensor.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
/*---------------------------------------------------------------------------*\
Class CompactSpatialTensor Declaration
\*---------------------------------------------------------------------------*/
template<class Cmpt>
class CompactSpatialTensor
:
public MatrixSpace<CompactSpatialTensor<Cmpt>, Cmpt, 6, 3>
{
public:
// Constructors
//- Construct null
inline CompactSpatialTensor();
inline explicit CompactSpatialTensor(const Foam::zero);
//- Construct given MatrixSpace of the same rank
inline CompactSpatialTensor
(
const typename CompactSpatialTensor::msType&
);
//- Construct given 18 components
inline CompactSpatialTensor
(
const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
const Cmpt& t50, const Cmpt& t51, const Cmpt& t52
);
//- Construct from Istream
inline CompactSpatialTensor(Istream&);
// Member Operators
inline void operator=(const Foam::zero);
};
template<class Cmpt>
class typeOfInnerProduct<Cmpt, CompactSpatialTensor<Cmpt>, Tensor<Cmpt>>
{
public:
typedef CompactSpatialTensor<Cmpt> type;
};
template<class Cmpt>
class typeOfInnerProduct<Cmpt, CompactSpatialTensor<Cmpt>, Vector<Cmpt>>
{
public:
typedef SpatialVector<Cmpt> type;
};
template<class Cmpt>
class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, CompactSpatialTensor<Cmpt>>
{
public:
typedef CompactSpatialTensor<Cmpt> type;
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
// Include inline implementations
#include "CompactSpatialTensorI.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //