75c7b7b239
Using method based on http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf but simplified for the case where the quaternions are similar.
119 lines
3.6 KiB
C
119 lines
3.6 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, 2, 3), 0.7853981);
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Info<< "q " << q << endl;
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vector v(0.1, 0.4, 2.1);
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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.R() " << q.R() << 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<< "quaternion(q.R()).transform(v) "
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<< (quaternion(q.R()).transform(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.transformPoint(v) << endl;
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vector origin(1, 2, 4);
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Info<< "(septernion(-origin)*q*septernion(origin))"
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<< ".transform(v) "
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<< (septernion(-origin)*q*septernion(origin)).transformPoint(v)
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<< " "
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<< septernion(-origin)
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.transformPoint(q.transform(septernion(origin).transformPoint(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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List<septernion> ss(3);
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List<scalar> w(3);
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ss[0] = septernion(vector(0, 0.1, 0), quaternion(0.7, vector(1, 2, 3)));
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w[0] = 0.1;
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ss[1] = septernion(vector(0, 0.2, 0), quaternion(-0.6, vector(-2, -1, -3)));
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w[1] = 0.5;
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ss[2] = septernion(vector(0, 0.3, 0), quaternion(0.3, vector(3, 2, 1)));
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w[2] = 0.4;
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Info<< "average(ss, w) " << average(ss, w) << endl;
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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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