CompactSpatialTensor.H

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    Copyright (C) 2019 OpenCFD Ltd.
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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
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    for more details.
 
    You should have received a copy of the GNU General Public License
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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
 
See also
    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 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&);
};
 
 
// * * * * * * * * * * * * * * * * * Traits  * * * * * * * * * * * * * * * * //
 
//- Data are contiguous if component type is contiguous
template<class Cmpt>
struct is_contiguous<CompactSpatialTensor<Cmpt>> : is_contiguous<Cmpt> {};
 
//- Data are contiguous label if component type is label
template<class Cmpt>
struct is_contiguous_label<CompactSpatialTensor<Cmpt>>
:
    is_contiguous_label<Cmpt>
{};
 
//- Data are contiguous scalar if component type is scalar
template<class Cmpt>
struct is_contiguous_scalar<CompactSpatialTensor<Cmpt>>
:
    is_contiguous_scalar<Cmpt>
{};
 
 
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 "CompactSpatialTensorT.H"
#include "CompactSpatialTensorI.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //