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

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. More...

typedef Cmpt	cmptType
	Component type. More...

typedef Cmpt	magType
	Magnitude type. More...

typedef Cmpt *	iterator
	Random access iterator for traversing VectorSpace. More...

typedef const Cmpt *	const_iterator
	Random access iterator for traversing VectorSpace. More...

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

	SpatialVector (const Foam::zero)
	Construct initialized to zero. More...

	SpatialVector (const typename SpatialVector::vsType &)
	Construct given VectorSpace of the same rank. More...

	SpatialVector (const Vector< Cmpt > &w, const Vector< Cmpt > &l)
	Construct from the angular and linear vector components. More...

	SpatialVector (const Cmpt &wx, const Cmpt &wy, const Cmpt &wz, const Cmpt &lx, const Cmpt &ly, const Cmpt &lz)
	Construct given 6 components. More...

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

const Cmpt &	wx () const

const Cmpt &	wy () const

const Cmpt &	wz () const

const Cmpt &	lx () const

const Cmpt &	ly () const

const Cmpt &	lz () const

Cmpt &	wx ()

Cmpt &	wy ()

Cmpt &	wz ()

Cmpt &	lx ()

Cmpt &	ly ()

Cmpt &	lz ()

Vector< Cmpt >	w () const
	Return the angular part of the spatial vector as a vector. More...

Vector< Cmpt >	l () const
	Return the linear part of the spatial vector as a vector. More...

dual	operator* () const
	Return the dual spatial vector. More...

Public Member Functions inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
	VectorSpace ()=default
	Default construct. More...

	VectorSpace (const Foam::zero)
	Construct initialized to zero. More...

	VectorSpace (const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts > &vs)
	Copy construct. More...

	VectorSpace (const VectorSpace< Form2, Cmpt2, Ncmpts > &)
	Copy construct of a VectorSpace with the same size. More...

	VectorSpace (Istream &is)
	Construct from Istream. More...

const Cmpt &	component (const direction) const

Cmpt &	component (const direction)

void	component (Cmpt &, const direction) const

void	replace (const direction, const Cmpt &)

const Cmpt *	cdata () const noexcept
	Return const pointer to the first data element. More...

Cmpt *	data () noexcept
	Return pointer to the first data element. More...

const ConstBlock< SubVector, BStart >	block () const

const Foam::VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts >::template ConstBlock< SubVector, BStart >	block () const

const Cmpt &	operator[] (const direction) const

Cmpt &	operator[] (const direction)

void	operator= (const VectorSpace< SpatialVector< Cmpt >, Cmpt, Ncmpts > &)

void	operator= (const Foam::zero)

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 to begin of VectorSpace. More...

const_iterator	begin () const noexcept
	Return const_iterator to begin of VectorSpace. More...

iterator	end () noexcept
	Return an iterator to end of VectorSpace. More...

const_iterator	end () const noexcept
	Return const_iterator to end of VectorSpace. More...

const_iterator	cbegin () const noexcept
	Return const_iterator to begin of VectorSpace. More...

const_iterator	cend () const noexcept
	Return const_iterator to end of VectorSpace. More...

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. More...

static SpatialVector< Cmpt >	uniform (const Cmpt &s)
	Return a VectorSpace with all elements = s. More...

Public Attributes inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
Cmpt	v_ [Ncmpts]
	The components of this vector space. More...

Static Public Attributes inherited from VectorSpace< SpatialVector< Cmpt >, Cmpt, 6 >
static constexpr direction	dim
	Dimensionality of space. More...

static constexpr direction	nComponents
	Number of components in this vector space. More...

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 65 of file SpatialVector.H.

Member Enumeration Documentation

◆ components

enum components

Component labeling enumeration.

Enumerator
WX
WY
WZ
LX
LY
LZ

Definition at line 73 of file SpatialVector.H.

Constructor & Destructor Documentation

◆ SpatialVector() [1/6]

SpatialVector

inline

Construct null.

Definition at line 31 of file SpatialVectorI.H.

◆ SpatialVector() [2/6]

SpatialVector ( const Foam::zero )

inline

Construct initialized to zero.

Definition at line 36 of file SpatialVectorI.H.

◆ SpatialVector() [3/6]

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

inline

Construct given VectorSpace of the same rank.

Definition at line 43 of file SpatialVectorI.H.

◆ SpatialVector() [4/6]

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

inline

Construct from the angular and linear vector components.

Definition at line 53 of file SpatialVectorI.H.

References Vector< Cmpt >::x(), Vector< Cmpt >::y(), and Vector< Cmpt >::z().

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◆ SpatialVector() [5/6]

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 69 of file SpatialVectorI.H.

◆ SpatialVector() [6/6]

SpatialVector ( Istream & is )

inline

Construct from Istream.

Definition at line 89 of file SpatialVectorI.H.

Member Function Documentation

◆ wx() [1/2]

const Cmpt & wx

inline

Definition at line 105 of file SpatialVectorI.H.

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

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◆ wy() [1/2]

const Cmpt & wy

inline

Definition at line 112 of file SpatialVectorI.H.

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

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◆ wz() [1/2]

const Cmpt & wz

inline

Definition at line 119 of file SpatialVectorI.H.

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

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◆ lx() [1/2]

const Cmpt & lx

inline

Definition at line 126 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ ly() [1/2]

const Cmpt & ly

inline

Definition at line 133 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ lz() [1/2]

const Cmpt & lz

inline

Definition at line 140 of file SpatialVectorI.H.

Referenced by Foam::operator^().

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◆ wx() [2/2]

Cmpt & wx

inline

Definition at line 147 of file SpatialVectorI.H.

◆ wy() [2/2]

Cmpt & wy

inline

Definition at line 154 of file SpatialVectorI.H.

◆ wz() [2/2]

Cmpt & wz

inline

Definition at line 161 of file SpatialVectorI.H.

◆ lx() [2/2]

Cmpt & lx

inline

Definition at line 168 of file SpatialVectorI.H.

◆ ly() [2/2]

Cmpt & ly

inline

Definition at line 175 of file SpatialVectorI.H.

◆ lz() [2/2]

Cmpt & lz

inline

Definition at line 182 of file SpatialVectorI.H.

◆ w()

Foam::Vector< Cmpt > w

inline

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

Definition at line 189 of file SpatialVectorI.H.

Referenced by rigidBodyMotion::status().

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◆ l()

Foam::Vector< Cmpt > l

inline

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

Definition at line 195 of file SpatialVectorI.H.

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

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◆ operator*()

Foam::SpatialVector< Cmpt >::dual operator*

inline

Return the dual spatial vector.

Definition at line 212 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*()