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openfoam/applications/test/quaternion/Test-quaternion.C
Mark Olesen 5a121119e6 ENH: add -verbose support into argList 
- similar to -dry-run handling, can be interrogated from argList,
  which makes it simpler to add into utilities.

- support multiple uses of -dry-run and -verbose to increase the
  level. For example, could have

    someApplication -verbose -verbose

 and inside of the application:

    if (args.verbose() > 2) ...

BUG: error with empty distributed roots specification (fixes #2196)

- previously used the size of distributed roots to transmit if the
  case was running in distributed mode, but this behaves rather poorly
  with bad input. Specifically, the following questionable setup:

      distributed true;
      roots ( /*none*/ );

  Now transmit the ParRunControl distributed() value instead,
  and also emit a gentle warning for the user:

      WARNING: running distributed but did not specify roots!
2021-11-09 15:44:54 +01:00

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/*---------------------------------------------------------------------------*\
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | www.openfoam.com
\\/ M anipulation |
-------------------------------------------------------------------------------
Copyright (C) 2011-2016 OpenFOAM Foundation
Copyright (C) 2019-2021 OpenCFD Ltd.
-------------------------------------------------------------------------------
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
(at your option) any later version.
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
for more details.
You should have received a copy of the GNU General Public License
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
Application
Test-quaternion
Description
Test application for quaternions.
\*---------------------------------------------------------------------------*/
#include "argList.H"
#include "quaternion.H"
#include "septernion.H"
#include "unitConversion.H"
#include "Tuple2.H"
#include "IOstreams.H"
#include "transform.H"
#include "axisAngleRotation.H"
#include "EulerCoordinateRotation.H"
using namespace Foam;
using namespace Foam::coordinateRotations;
void printRotation(const tensor& rot)
{
Info<< "[\n"
<< " " << rot.xx() << ' ' << rot.xy() << ' ' << rot.xz() << nl
<< " " << rot.yx() << ' ' << rot.yy() << ' ' << rot.yz() << nl
<< " " << rot.zx() << ' ' << rot.zy() << ' ' << rot.zz() << nl
<< "]\n";
}
void printRotation(const quaternion& quat)
{
tensor rot(quat.R());
Info<< "quaternion " << quat << nl
<< "rotation" << nl;
printRotation(rot);
Info<< "transpose" << nl;
printRotation(rot.T());
}
bool equalTensors(const tensor& rot1, const tensor& rot2)
{
for (direction cmpt=0; cmpt < tensor::nComponents; ++cmpt)
{
// Cannot be really picky, but SMALL is reasonable
if (mag(rot1[cmpt] - rot2[cmpt]) > SMALL)
{
return false;
}
}
return true;
}
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
int main(int argc, char *argv[])
{
argList::addOption
(
"rollPitchYaw",
"vector",
"Rotate by '(roll pitch yaw)' in degrees"
);
argList::addOption
(
"yawPitchRoll",
"vector",
"Rotate by '(yaw pitch roll)' in degrees"
);
argList::addOption
(
"euler",
"vector",
"Rotate by '(phi theta psi)' in degrees"
);
argList::addOption
(
"xyz",
"vector",
"Rotate about x-y-z axes in degrees"
);
argList::addOption
(
"zyx",
"vector",
"Rotate about z-y-x axes in degrees"
);
argList::addOption
(
"rotate-angle",
"(vector angle)",
"Rotate about the <vector> by <angle> degrees - eg, '((1 0 0) 45)'"
);
argList::addVerboseOption
(
"Report euler angles"
);
argList args(argc, argv);
vector rotVector;
if (args.readIfPresent("rollPitchYaw", rotVector))
{
Info<< nl
<< "Rotate by" << nl
<< " roll " << rotVector.x() << nl
<< " pitch " << rotVector.y() << nl
<< " yaw " << rotVector.z() << nl;
rotVector *= degToRad();
const quaternion quat(quaternion::eulerOrder::XYZ, rotVector);
printRotation(quat);
// Euler
const tensor rot
(
euler::rotation(euler::eulerOrder::XYZ, rotVector, false)
);
printRotation(rot);
}
if (args.readIfPresent("yawPitchRoll", rotVector))
{
Info<< nl
<< "Rotate by" << nl
<< " yaw " << rotVector.x() << nl
<< " pitch " << rotVector.y() << nl
<< " roll " << rotVector.z() << nl;
rotVector *= degToRad();
const quaternion quat(quaternion::eulerOrder::ZYX, rotVector);
printRotation(quat);
// Euler
const tensor rot
(
euler::rotation(euler::eulerOrder::ZYX, rotVector, false)
);
printRotation(rot);
}
if (args.readIfPresent("euler", rotVector))
{
Info<< nl
<< "Rotate by" << nl
<< " phi " << rotVector.x() << nl
<< " theta " << rotVector.y() << nl
<< " psi " << rotVector.z() << nl;
printRotation(euler(rotVector, true).R());
rotVector *= degToRad();
const quaternion quat(quaternion::eulerOrder::ZXZ, rotVector);
printRotation(quat);
}
if (args.readIfPresent("xyz", rotVector))
{
Info<< nl
<< "Rotate about" << nl
<< " x " << rotVector.x() << nl
<< " y " << rotVector.y() << nl
<< " z " << rotVector.z() << nl;
Vector<tensor> Rs
(
axisAngle(vector(1,0,0), rotVector.x(), true).R(),
axisAngle(vector(0,1,0), rotVector.y(), true).R(),
axisAngle(vector(0,0,1), rotVector.z(), true).R()
);
printRotation(Rs.x() & Rs.y() & Rs.z());
}
if (args.readIfPresent("zyx", rotVector))
{
Info<< nl
<< "Rotate about" << nl
<< " z " << rotVector.x() << nl
<< " y " << rotVector.y() << nl
<< " x " << rotVector.z() << nl;
Vector<tensor> Rs
(
axisAngle(vector(1,0,0), rotVector.z(), true).R(),
axisAngle(vector(0,1,0), rotVector.y(), true).R(),
axisAngle(vector(0,0,1), rotVector.x(), true).R()
);
printRotation(Rs.z() & Rs.y() & Rs.x());
}
if (args.found("rotate-angle"))
{
const Tuple2<vector, scalar> axisAngle
(
args.lookup("rotate-angle")()
);
Info<< nl
<< "Rotate" << nl
<< " about " << axisAngle.first() << nl
<< " angle " << axisAngle.second() << nl;
const quaternion quat
(
axisAngle.first(),
degToRad(axisAngle.second())
);
printRotation(quat);
Info<< "transform Ra = "
<< Ra
(
axisAngle.first() / mag(axisAngle.first()),
degToRad(axisAngle.second())
) << nl;
Info<< "-ve Ra = "
<< Ra
(
axisAngle.first() / mag(axisAngle.first()),
degToRad(-axisAngle.second())
) << nl;
}
Info<< nl << nl;
quaternion q(vector(1, 2, 3), 0.7853981);
Info<< "q " << q << nl;
vector v(0.1, 0.4, 2.1);
Info<< "v " << v << nl;
Info<< "inv(q)*q " << inv(q)*q << nl;
Info<< "q*quaternion(0, v)*conjugate(q) "
<< q*quaternion(0, v)*conjugate(q) << nl;
Info<< "q.R() " << q.R() << nl;
Info<< "q.transform(v) " << q.transform(v) << nl;
Info<< "q.R() & v " << (q.R() & v) << nl;
Info<< "quaternion(q.R()).transform(v) "
<< (quaternion(q.R()).transform(v)) << nl;
Info<< "q.invTransform(v) " << q.invTransform(v) << nl;
septernion tr(vector(0, 0.1, 0), q);
Info<< "tr " << tr << nl;
Info<< "inv(tr)*tr " << inv(tr)*tr << nl;
Info<< "tr.transform(v) " << tr.transformPoint(v) << nl;
vector origin(1, 2, 4);
Info<< "(septernion(-origin)*q*septernion(origin))"
<< ".transform(v) "
<< (septernion(-origin)*q*septernion(origin)).transformPoint(v)
<< " "
<< septernion(-origin)
.transformPoint(q.transform(septernion(origin).transformPoint(v)))
<< nl;
Info<< "Test conversion from and to Euler-angles" << nl;
vector angles(0.1, 0.2, 0.3);
for (int rs : quaternion::eulerOrderNames.values())
{
const quaternion::eulerOrder order = quaternion::eulerOrder(rs);
const word& orderName = quaternion::eulerOrderNames[order];
if
(
mag(angles - quaternion(order, angles).eulerAngles(order))
> SMALL
)
{
FatalErrorInFunction
<< "Inconsistent conversion for euler rotation order "
<< orderName << nl << exit(FatalError);
}
tensor rotQ(quaternion(order, angles).R());
tensor rotE(euler::rotation(order, angles, false));
if (args.verbose())
{
Info<< "euler " << orderName << angles << nl;
printRotation(rotE);
}
if (!equalTensors(rotQ, rotE))
{
WarningInFunction
<< "Inconsistent quaternion/euler rotation matrices for "
<< orderName << nl;
printRotation(rotQ);
printRotation(rotE);
FatalError
<< nl << exit(FatalError);
}
}
List<septernion> ss(3);
List<scalar> w(3);
ss[0] = septernion(vector(0, 0.1, 0), quaternion(0.7, vector(1, 2, 3)));
w[0] = 0.1;
ss[1] = septernion(vector(0, 0.2, 0), quaternion(-0.6, vector(-2, -1, -3)));
w[1] = 0.5;
ss[2] = septernion(vector(0, 0.3, 0), quaternion(0.3, vector(3, 2, 1)));
w[2] = 0.4;
Info<< "average(ss, w) " << average(ss, w) << nl;
Info<< "\nEnd\n" << endl;
return 0;
}
// ************************************************************************* //
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