Quaternion class used to perform rotations in 3D space. More...

Collaboration diagram for quaternion:

Public Types
enum	eulerOrder : unsigned char { XZX, XYX, YXY, YZY, ZYZ, ZXZ, XZY, XYZ, YXZ, YZX, ZYX, ZXY }
	Euler-angle rotation order. More...

typedef scalar	cmptType
	Component type. More...

typedef scalar	magType
	Magnitude type. More...

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

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

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

	quaternion (const Foam::zero)
	Construct zero initialized. More...

	quaternion (const scalar w, const vector &v)
	Construct given scalar and vector parts. More...

	quaternion (const vector &d, const scalar theta)
	Construct rotation quaternion given direction d and angle theta. More...

	quaternion (const vector &d, const scalar cosTheta, const bool normalized)

	quaternion (const scalar w)

	quaternion (const vector &v)

	quaternion (const eulerOrder order, const vector &angles)
	Construct from three Euler rotation angles. More...

	quaternion (const tensor &rotationTensor)
	Construct from a rotation tensor. More...

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

scalar	w () const
	Scalar part of the quaternion ( = cos(theta/2) for rotation) More...

const vector &	v () const
	Vector part of the quaternion ( = axis of rotation) More...

tensor	R () const
	The rotation tensor corresponding to the quaternion. More...

vector	eulerAngles (const eulerOrder order) const

quaternion	normalized () const
	Return the quaternion normalized by its magnitude. More...

scalar &	w ()
	Scalar part of the quaternion ( = cos(theta/2) for rotation) More...

vector &	v ()
	Vector part of the quaternion ( = axis of rotation) More...

void	normalize ()
	Normalize the quaternion by its magnitude. More...

vector	transform (const vector &v) const
	Rotate the given vector. More...

vector	invTransform (const vector &v) const
	Rotate the given vector anti-clockwise. More...

quaternion	transform (const quaternion &q) const
	Rotate the given quaternion (and normalize) More...

quaternion	invTransform (const quaternion &q) const
	Rotate the given quaternion anti-clockwise (and normalize) More...

void	operator+= (const quaternion &q)

void	operator-= (const quaternion &q)

void	operator*= (const quaternion &q)

void	operator/= (const quaternion &q)

void	operator= (const scalar s)
	Change scalar portion only. More...

void	operator= (const vector &v)
	Change vector portion only. More...

void	operator*= (const scalar s)

void	operator/= (const scalar s)

Static Public Member Functions
static quaternion	unit (const vector &v)

Static Public Attributes
static const Enum< eulerOrder >	eulerOrderNames
	The names for Euler-angle rotation order. More...

static constexpr direction	rank = 1
	Rank of quaternion is 1. More...

static constexpr const char *const	typeName = "quaternion"

static const quaternion	zero

static const quaternion	I

Detailed Description

Quaternion class used to perform rotations in 3D space.

Source files

Definition at line 56 of file quaternion.H.

Member Typedef Documentation

◆ cmptType

typedef scalar cmptType

Component type.

Definition at line 96 of file quaternion.H.

◆ magType

typedef scalar magType

Magnitude type.

Definition at line 99 of file quaternion.H.

Member Enumeration Documentation

◆ eulerOrder

enum eulerOrder : unsigned char

Euler-angle rotation order.

Enumerator
XZX
XYX
YXY
YZY
ZYZ
ZXZ
XZY
XYZ
YXZ
YZX
ZYX
ZXY

Definition at line 102 of file quaternion.H.

Constructor & Destructor Documentation

◆ quaternion() [1/11]

quaternion ( )

default

Default construct.

◆ quaternion() [2/11]

quaternion ( const quaternion & )

default

Copy construct.

◆ quaternion() [3/11]

quaternion ( const Foam::zero )

inline

Construct zero initialized.

Definition at line 31 of file quaternionI.H.

◆ quaternion() [4/11]

quaternion	(	const scalar	w,
		const vector &	v
	)

inline

Construct given scalar and vector parts.

Definition at line 38 of file quaternionI.H.

◆ quaternion() [5/11]

quaternion	(	const vector &	d,
		const scalar	theta
	)

inline

Construct rotation quaternion given direction d and angle theta.

Definition at line 45 of file quaternionI.H.

◆ quaternion() [6/11]

quaternion	(	const vector &	d,
		const scalar	cosTheta,
		const bool	normalized
	)

inline

Construct a rotation quaternion given direction d and cosine angle cosTheta and flag if d is normalized

Definition at line 53 of file quaternionI.H.

References Foam::mag(), and Foam::sqrt().

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◆ quaternion() [7/11]

quaternion ( const scalar w )

inlineexplicit

Construct a real quaternion from the given scalar part, the vector part = zero

Definition at line 73 of file quaternionI.H.

◆ quaternion() [8/11]

quaternion ( const vector & v )

inlineexplicit

Construct a pure imaginary quaternion given the vector part, the scalar part = 0

Definition at line 80 of file quaternionI.H.

◆ quaternion() [9/11]

quaternion	(	const eulerOrder	order,
		const vector &	angles
	)

inline

Construct from three Euler rotation angles.

Definition at line 94 of file quaternionI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, Vector< Cmpt >::x(), Vector< Cmpt >::y(), and Vector< Cmpt >::z().

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◆ quaternion() [10/11]

quaternion ( const tensor & rotationTensor )

inlineexplicit

Construct from a rotation tensor.

Definition at line 207 of file quaternionI.H.

References Foam::rotationTensor(), s, Foam::sqrt(), Tensor< Cmpt >::xx(), Tensor< Cmpt >::xy(), Tensor< Cmpt >::xz(), Tensor< Cmpt >::yx(), Tensor< Cmpt >::yy(), Tensor< Cmpt >::yz(), Tensor< Cmpt >::zx(), Tensor< Cmpt >::zy(), and Tensor< Cmpt >::zz().

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◆ quaternion() [11/11]

quaternion ( Istream & is )

explicit

Construct from Istream.

Definition at line 61 of file quaternion.C.

Member Function Documentation

◆ operator=() [1/3]

quaternion& operator= ( const quaternion & )

default

Copy assignment.

◆ unit()

Foam::quaternion unit ( const vector & v )

inlinestatic

Return the unit quaternion (versor) from the given vector (w = sqrt(1 - |sqr(v)|))

Definition at line 87 of file quaternionI.H.

References Foam::magSqr(), and Foam::sqrt().

Referenced by joint::unitQuaternion().

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◆ w() [1/2]

Foam::scalar w ( ) const

inline

Scalar part of the quaternion ( = cos(theta/2) for rotation)

Definition at line 285 of file quaternionI.H.

Referenced by Foam::conjugate(), Foam::exp(), Foam::inv(), Foam::magSqr(), Foam::name(), Foam::operator&(), Foam::operator*(), quaternion::operator*=(), Foam::operator+(), Foam::operator-(), Foam::operator/(), Foam::operator<<(), Foam::operator==(), Foam::operator>>(), and Foam::pow().

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◆ v() [1/2]

const Foam::vector & v ( ) const

inline

Vector part of the quaternion ( = axis of rotation)

Definition at line 291 of file quaternionI.H.

Referenced by Foam::conjugate(), Foam::exp(), Foam::inv(), Foam::magSqr(), Foam::name(), Foam::operator&(), Foam::operator*(), quaternion::operator*=(), Foam::operator+(), Foam::operator-(), Foam::operator/(), Foam::operator<<(), Foam::operator==(), Foam::operator>>(), Foam::pow(), and joint::unitQuaternion().

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◆ R()

Foam::tensor R ( ) const

inline

The rotation tensor corresponding to the quaternion.

Definition at line 354 of file quaternionI.H.

References Foam::sqr(), w2, x, and y.

Referenced by axisAngle::rotation(), Foam::transform(), and triad::triad().

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◆ eulerAngles()

Foam::vector eulerAngles ( const eulerOrder order ) const

inline

Return the Euler rotation angles corresponding to the specified rotation order

Definition at line 404 of file quaternionI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, Foam::sqr(), w2, x, y, and Foam::Zero.

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◆ normalized()

Foam::quaternion normalized ( ) const

inline

Return the quaternion normalized by its magnitude.

Definition at line 309 of file quaternionI.H.

References Foam::mag().

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◆ w() [2/2]

Foam::scalar & w ( )

inline

Scalar part of the quaternion ( = cos(theta/2) for rotation)

Definition at line 297 of file quaternionI.H.

◆ v() [2/2]

Foam::vector & v ( )

inline

Vector part of the quaternion ( = axis of rotation)

Definition at line 303 of file quaternionI.H.

◆ normalize()

void normalize ( )

inline

Normalize the quaternion by its magnitude.

Definition at line 315 of file quaternionI.H.

References Foam::mag().

Referenced by Foam::average().

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◆ transform() [1/2]

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

inline

Rotate the given vector.

Definition at line 327 of file quaternionI.H.

References Foam::conjugate().

Referenced by searchableExtrudedCircle::findParametricNearest(), polyline::operator()(), Foam::operator*(), Foam::operator/(), and septernion::operator/=().

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◆ invTransform() [1/2]

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

inline

Rotate the given vector anti-clockwise.

Definition at line 333 of file quaternionI.H.

References Foam::conjugate().

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

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◆ transform() [2/2]

Foam::quaternion transform ( const quaternion & q ) const

inline

Rotate the given quaternion (and normalize)

Definition at line 339 of file quaternionI.H.

References Foam::normalize().

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◆ invTransform() [2/2]

Foam::quaternion invTransform ( const quaternion & q ) const

inline

Rotate the given quaternion anti-clockwise (and normalize)

Definition at line 346 of file quaternionI.H.

References Foam::conjugate(), and Foam::normalize().

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◆ operator+=()

void operator+= ( const quaternion & q )

inline

Definition at line 584 of file quaternionI.H.

◆ operator-=()

void operator-= ( const quaternion & q )

inline

Definition at line 590 of file quaternionI.H.

◆ operator*=() [1/2]

void operator*= ( const quaternion & q )

inline

Definition at line 596 of file quaternionI.H.

References quaternion::v(), quaternion::w(), and w0.

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◆ operator/=() [1/2]

void operator/= ( const quaternion & q )

inline

Definition at line 603 of file quaternionI.H.

References Foam::inv().

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◆ operator=() [2/3]

void operator= ( const scalar s )

inline

Change scalar portion only.

Definition at line 609 of file quaternionI.H.

References s.

◆ operator=() [3/3]

void operator= ( const vector & v )

inline

Change vector portion only.

Definition at line 615 of file quaternionI.H.

◆ operator*=() [2/2]

void operator*= ( const scalar s )

inline

Definition at line 621 of file quaternionI.H.

References s.

◆ operator/=() [2/2]

void operator/= ( const scalar s )

inline

Definition at line 627 of file quaternionI.H.

References s.

Member Data Documentation

◆ eulerOrderNames

const Foam::Enum< Foam::quaternion::eulerOrder > eulerOrderNames

static

The names for Euler-angle rotation order.

Definition at line 112 of file quaternion.H.

Referenced by lumpedPointMovement::readDict(), lumpedPointState::writeDict(), and euler::writeEntry().

◆ rank

constexpr direction rank = 1

staticconstexpr

Rank of quaternion is 1.

Definition at line 118 of file quaternion.H.

◆ typeName

constexpr const char* const typeName = "quaternion"

staticconstexpr

Definition at line 123 of file quaternion.H.

◆ zero

const Foam::quaternion zero

static

Definition at line 125 of file quaternion.H.

◆ I

const Foam::quaternion I

static

Definition at line 126 of file quaternion.H.

Referenced by septernion::operator=().

The documentation for this class was generated from the following files:

src/OpenFOAM/primitives/quaternion/quaternion.H
src/OpenFOAM/primitives/quaternion/quaternion.C
src/OpenFOAM/primitives/quaternion/quaternionI.H

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ cmptType

◆ magType

Member Enumeration Documentation

◆ eulerOrder

Constructor & Destructor Documentation

◆ quaternion() [1/11]

◆ quaternion() [2/11]

◆ quaternion() [3/11]

◆ quaternion() [4/11]

◆ quaternion() [5/11]

◆ quaternion() [6/11]

◆ quaternion() [7/11]

◆ quaternion() [8/11]

◆ quaternion() [9/11]

◆ quaternion() [10/11]

◆ quaternion() [11/11]

Member Function Documentation

◆ operator=() [1/3]

◆ unit()

◆ w() [1/2]

◆ v() [1/2]

◆ R()

◆ eulerAngles()

◆ normalized()

◆ w() [2/2]

◆ v() [2/2]

◆ normalize()

◆ transform() [1/2]

◆ invTransform() [1/2]

◆ transform() [2/2]

◆ invTransform() [2/2]

◆ operator+=()

◆ operator-=()

◆ operator*=() [1/2]

◆ operator/=() [1/2]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator*=() [2/2]

◆ operator/=() [2/2]

Member Data Documentation

◆ eulerOrderNames

◆ rank

◆ typeName

◆ zero

◆ I