Septernion class used to perform translations and rotations in 3D space. More...

Collaboration diagram for septernion:

Public Member Functions
	septernion ()=default
	Default construct. More...

	septernion (const septernion &)=default
	Copy construct. More...

septernion &	operator= (const septernion &)=default
	Copy assignment. More...

	septernion (const Foam::zero)
	Construct zero initialized. 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 (const spatialTransform &st)
	Construct a general septernion from the given spatialTransform. More...

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

const vector &	t () const

const quaternion &	r () const

vector &	t ()

quaternion &	r ()

vector	transformPoint (const vector &v) const
	Transform the given coordinate point. More...

vector	invTransformPoint (const vector &v) const
	Inverse Transform the given coordinate point. More...

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

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

Definition at line 66 of file septernion.H.

Constructor & Destructor Documentation

◆ septernion() [1/8]

septernion ( )

default

Default construct.

◆ septernion() [2/8]

septernion ( const septernion & )

default

Copy construct.

◆ septernion() [3/8]

septernion ( const Foam::zero )

inline

Construct zero initialized.

Definition at line 31 of file septernionI.H.

◆ septernion() [4/8]

septernion	(	const vector &	t,
		const quaternion &	r
	)

inline

Construct given a translation vector and rotation quaternion.

Definition at line 38 of file septernionI.H.

◆ septernion() [5/8]

septernion ( const vector & t )

inlineexplicit

Construct a pure translation septernion given a translation vector.

Definition at line 45 of file septernionI.H.

◆ septernion() [6/8]

septernion ( const quaternion & r )

inlineexplicit

Construct a pure rotation septernion given a rotation quaternion.

Definition at line 52 of file septernionI.H.

◆ septernion() [7/8]

septernion ( const spatialTransform & st )

inlineexplicit

Construct a general septernion from the given spatialTransform.

Definition at line 59 of file septernionI.H.

◆ septernion() [8/8]

septernion ( Istream & is )

explicit

Construct from Istream.

Definition at line 47 of file septernion.C.

Member Function Documentation

◆ operator=() [1/3]

septernion & operator= ( const septernion & )

default

Copy assignment.

◆ t() [1/2]

const Foam::vector & t ( ) const

inline

Definition at line 68 of file septernionI.H.

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

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◆ r() [1/2]

const Foam::quaternion & r ( ) const

inline

Definition at line 74 of file septernionI.H.

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

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◆ t() [2/2]

Foam::vector & t ( )

inline

Definition at line 80 of file septernionI.H.

◆ r() [2/2]

Foam::quaternion & r ( )

inline

Definition at line 86 of file septernionI.H.

◆ transformPoint()

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

inline

Transform the given coordinate point.

Definition at line 92 of file septernionI.H.

◆ invTransformPoint()

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

inline

Inverse Transform the given coordinate point.

Definition at line 98 of file septernionI.H.

Referenced by sixDoFRigidBodyMotion::transform().

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◆ operator*=() [1/3]

void operator*= ( const septernion & tr )

inline

Definition at line 106 of file septernionI.H.

References Foam::tr().

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◆ operator=() [2/3]

void operator= ( const vector & t )

inline

Definition at line 113 of file septernionI.H.

References quaternion::I.

◆ operator+=()

void operator+= ( const vector & t )

inline

Definition at line 120 of file septernionI.H.

◆ operator-=()

void operator-= ( const vector & t )

inline

Definition at line 126 of file septernionI.H.

◆ operator=() [3/3]

void operator= ( const quaternion & r )

inline

Definition at line 132 of file septernionI.H.

References Foam::Zero.

◆ operator*=() [2/3]

void operator*= ( const quaternion & r )

inline

Definition at line 139 of file septernionI.H.

References quaternion::invTransform().

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◆ operator/=() [1/2]

void operator/= ( const quaternion & r )

inline

Definition at line 146 of file septernionI.H.

References quaternion::transform().

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◆ operator*=() [3/3]

void operator*= ( const scalar s )

inline

Definition at line 153 of file septernionI.H.

References s().

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◆ operator/=() [2/2]

void operator/= ( const scalar s )

inline

Definition at line 159 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

Member Data Documentation

◆ typeName

const char *const typeName = "septernion"

static

Definition at line 81 of file septernion.H.

◆ zero

const Foam::septernion zero

static

Definition at line 83 of file septernion.H.

◆ I

const Foam::septernion I

static

Definition at line 84 of file septernion.H.

Referenced by sixDoFRigidBodyMotion::transform(), and rigidBodyMotion::transformPoints().

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

Public Member Functions

Static Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ septernion() [1/8]

◆ septernion() [2/8]

◆ septernion() [3/8]

◆ septernion() [4/8]

◆ septernion() [5/8]

◆ septernion() [6/8]

◆ septernion() [7/8]

◆ septernion() [8/8]

Member Function Documentation

◆ operator=() [1/3]

◆ t() [1/2]

◆ r() [1/2]

◆ t() [2/2]

◆ r() [2/2]

◆ transformPoint()

◆ invTransformPoint()

◆ operator*=() [1/3]

◆ operator=() [2/3]

◆ operator+=()

◆ operator-=()

◆ operator=() [3/3]

◆ operator*=() [2/3]

◆ operator/=() [1/2]

◆ operator*=() [3/3]

◆ operator/=() [2/2]

Friends And Related Function Documentation

◆ operator>>

◆ operator<<

Member Data Documentation

◆ typeName

◆ zero

◆ I