Public Member Functions | Static Public Attributes | Friends | List of all members
septernion Class Reference

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

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Public Member Functions

 septernion ()
 Construct null. 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 &)
 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 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() [1/6]

septernion ( )
inline

Construct null.

Definition at line 30 of file septernionI.H.

◆ septernion() [2/6]

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

Construct given a translation vector and rotation quaternion.

Definition at line 33 of file septernionI.H.

◆ septernion() [3/6]

septernion ( const vector &  t)
inlineexplicit

Construct a pure translation septernion given a translation vector.

Definition at line 39 of file septernionI.H.

◆ septernion() [4/6]

septernion ( const quaternion &  r)
inlineexplicit

Construct a pure rotation septernion given a rotation quaternion.

Definition at line 45 of file septernionI.H.

◆ septernion() [5/6]

septernion ( const spatialTransform &  st)
inlineexplicit

Construct a general septernion from the given spatialTransform.

Definition at line 51 of file septernionI.H.

◆ septernion() [6/6]

septernion ( Istream &  is)

Construct from Istream.

Definition at line 48 of file septernion.C.

Member Function Documentation

◆ t() [1/2]

const Foam::vector & t ( ) const
inline

Definition at line 60 of file septernionI.H.

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

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◆ r() [1/2]

const Foam::quaternion & r ( ) const
inline

Definition at line 66 of file septernionI.H.

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

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◆ t() [2/2]

Foam::vector & t ( )
inline

Definition at line 72 of file septernionI.H.

◆ r() [2/2]

Foam::quaternion & r ( )
inline

Definition at line 78 of file septernionI.H.

◆ transformPoint()

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

Transform the given coordinate point.

Definition at line 84 of file septernionI.H.

◆ invTransformPoint()

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

Inverse Transform the given coordinate point.

Definition at line 90 of file septernionI.H.

Referenced by sixDoFRigidBodyMotion::transform().

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◆ operator=() [1/3]

void operator= ( const septernion &  tr)
inline

Definition at line 98 of file septernionI.H.

References Foam::tr().

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◆ operator*=() [1/3]

void operator*= ( const septernion &  tr)
inline

Definition at line 104 of file septernionI.H.

References Foam::tr().

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◆ operator=() [2/3]

void operator= ( const vector &  t)
inline

Definition at line 111 of file septernionI.H.

References quaternion::I.

◆ operator+=()

void operator+= ( const vector &  t)
inline

Definition at line 117 of file septernionI.H.

◆ operator-=()

void operator-= ( const vector &  t)
inline

Definition at line 122 of file septernionI.H.

◆ operator=() [3/3]

void operator= ( const quaternion &  r)
inline

Definition at line 128 of file septernionI.H.

References Foam::Zero.

◆ operator*=() [2/3]

void operator*= ( const quaternion &  r)
inline

Definition at line 134 of file septernionI.H.

References quaternion::invTransform().

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◆ operator/=() [1/2]

void operator/= ( const quaternion &  r)
inline

Definition at line 140 of file septernionI.H.

References quaternion::transform().

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◆ operator*=() [3/3]

void operator*= ( const scalar  s)
inline

Definition at line 147 of file septernionI.H.

References s.

◆ operator/=() [2/2]

void operator/= ( const scalar  s)
inline

Definition at line 153 of file septernionI.H.

References s.

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: