b4ebcd770f
The particular rotation sequence is specified via the enumeration:
//- Euler-angle rotation sequence
enum rotationSequence
{
ZYX, ZYZ, ZXY, ZXZ, YXZ, YXY, YZX, YZY, XYZ, XYX, XZY, XZX
};
and provided as an argument to the constructor from Euler-angles
//- Construct a quaternion given the three Euler angles:
inline quaternion
(
const rotationSequence rs,
const vector& angles
);
and conversion to Euler-angles:
//- Return a vector of euler angles corresponding to the
// specified rotation sequence
inline vector eulerAngles(const rotationSequence rs) const;
101 lines
3.0 KiB
C
101 lines
3.0 KiB
C
/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2011-2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Application
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Test-quaternion
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Description
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Test application for quaternions.
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\*---------------------------------------------------------------------------*/
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#include "quaternion.H"
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#include "septernion.H"
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#include "IOstreams.H"
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using namespace Foam;
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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int main(int argc, char *argv[])
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{
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quaternion q(vector(1, 0, 0), 0.7853981);
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Info<< "q " << q << endl;
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vector v(0, 1, 0);
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Info<< "v " << v << endl;
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Info<< "inv(q)*q " << inv(q)*q << endl;
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Info<< "q*quaternion(0, v)*conjugate(q) "
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<< q*quaternion(0, v)*conjugate(q) << endl;
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Info<< "q.transform(v) " << q.transform(v) << endl;
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Info<< "q.R() & v " << (q.R() & v) << endl;
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Info<< "q.invTransform(v) " << q.invTransform(v) << endl;
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septernion tr(vector(0, 0.1, 0), q);
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Info<< "tr " << tr << endl;
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Info<< "inv(tr)*tr " << inv(tr)*tr << endl;
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Info<< "tr.transform(v) " << tr.transform(v) << endl;
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Info<< "(septernion(vector(0, -1, 0))*q*septernion(vector(0, 1, 0)))"
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<< ".transform(v) "
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<< (septernion(vector(0, -1, 0))
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*q
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*septernion(vector(0, 1, 0))).transform(v)
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<< endl;
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Info<< "Test conversion from and to Euler-angles" << endl;
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vector angles(0.1, 0.2, 0.3);
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for (int rs=quaternion::ZYX; rs<quaternion::XZX; ++rs)
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{
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if
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(
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mag
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(
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angles
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- quaternion(quaternion::rotationSequence(rs), angles)
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.eulerAngles(quaternion::rotationSequence(rs))
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)
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> SMALL
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)
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{
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FatalErrorInFunction
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<< "Inconsistent conversion for rotation sequence "
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<< rs << exit(FatalError)
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<< endl;
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}
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}
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Info<< "End\n" << endl;
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return 0;
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}
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// ************************************************************************* //
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