CompactSpatialTensor.H 3.83 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
/*---------------------------------------------------------------------------*\
  =========                 |
  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
   \\    /   O peration     |
    \\  /    A nd           | Copyright (C) 2016 OpenFOAM Foundation
     \\/     M anipulation  |
-------------------------------------------------------------------------------
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/>.

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

SeeAlso
    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();

75
        inline CompactSpatialTensor(const Foam::zero);
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139

        //- 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&);
};


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 "CompactSpatialTensorI.H"

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

#endif

// ************************************************************************* //