diff --git a/src/OpenFOAM/primitives/quaternion/quaternion.C b/src/OpenFOAM/primitives/quaternion/quaternion.C
index efe5469d4eaeb1c5fd1f8acbe357574af7b9d903..a2b53b8391593c4dca0ba55f464382f43f9663da 100644
--- a/src/OpenFOAM/primitives/quaternion/quaternion.C
+++ b/src/OpenFOAM/primitives/quaternion/quaternion.C
@@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
- \\ / A nd |
+ \\ / A nd | Copyright (C) 2019 OpenCFD Ltd.
\\/ M anipulation |
-------------------------------------------------------------------------------
| Copyright (C) 2011-2016 OpenFOAM Foundation
@@ -153,12 +153,8 @@ Foam::quaternion Foam::pow(const quaternion& q, const scalar power)
Foam::Istream& Foam::operator>>(Istream& is, quaternion& q)
{
- // Read beginning of quaternion
is.readBegin("quaternion");
-
is >> q.w() >> q.v();
-
- // Read end of quaternion
is.readEnd("quaternion");
is.check(FUNCTION_NAME);
diff --git a/src/OpenFOAM/primitives/quaternion/quaternion.H b/src/OpenFOAM/primitives/quaternion/quaternion.H
index 95878643ed9f85cd2cf188f8627b61c906af1a03..339253e34bc605c7bf9bb647f2374ba099015ffb 100644
--- a/src/OpenFOAM/primitives/quaternion/quaternion.H
+++ b/src/OpenFOAM/primitives/quaternion/quaternion.H
@@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
- \\ / A nd |
+ \\ / A nd | Copyright (C) 2019 OpenCFD Ltd.
\\/ M anipulation |
-------------------------------------------------------------------------------
| Copyright (C) 2011-2016 OpenFOAM Foundation
@@ -49,20 +49,13 @@ SourceFiles
namespace Foam
{
-// Forward declaration of friend functions and operators
-
-class quaternion;
-Istream& operator>>(Istream& is, quaternion&);
-Ostream& operator<<(Ostream& os, const quaternion& C);
-
-
/*---------------------------------------------------------------------------*\
Class quaternion Declaration
\*---------------------------------------------------------------------------*/
class quaternion
{
- // private data
+ // Private Data
//- Scalar part of the quaternion ( = cos(theta/2) for rotation)
scalar w_;
@@ -107,13 +100,13 @@ public:
};
- // Member constants
+ // Member Constants
//- Rank of quaternion is 1
static constexpr direction rank = 1;
- // Static data members
+ // Static Data Members
static const char* const typeName;
@@ -134,7 +127,7 @@ public:
inline quaternion(const vector& d, const scalar theta);
//- Construct a rotation quaternion given the direction d
- // and cosine angle cosTheta and a if d is normalized
+ //- and cosine angle cosTheta and a if d is normalized
inline quaternion
(
const vector& d,
@@ -146,93 +139,87 @@ public:
inline explicit quaternion(const scalar w);
//- Construct a pure imaginary quaternion given the vector part,
- // the scalar part = 0
+ //- the scalar part = 0
inline explicit quaternion(const vector& v);
//- Return the unit quaternion (versor) from the given vector
- // (w = sqrt(1 - |sqr(v)|))
+ //- (w = sqrt(1 - |sqr(v)|))
static inline quaternion unit(const vector& v);
- //- Construct a quaternion given the three Euler angles
- inline quaternion
- (
- const rotationSequence rs,
- const vector& angles
- );
+ //- Construct from three Euler angles
+ inline quaternion(const rotationSequence rs, const vector& angles);
- //- Construct a quaternion from a rotation tensor
+ //- Construct from a rotation tensor
inline explicit quaternion(const tensor& rotationTensor);
//- Construct from Istream
- quaternion(Istream&);
-
-
- // Member functions
+ explicit quaternion(Istream& is);
- // Access
- //- Scalar part of the quaternion ( = cos(theta/2) for rotation)
- inline scalar w() const;
+ // Member Functions
- //- Vector part of the quaternion ( = axis of rotation)
- inline const vector& v() const;
+ // Access
- //- The rotation tensor corresponding the quaternion
- inline tensor R() const;
+ //- Scalar part of the quaternion ( = cos(theta/2) for rotation)
+ inline scalar w() const;
- //- Return a vector of euler angles corresponding to the
- // specified rotation sequence
- inline vector eulerAngles(const rotationSequence rs) const;
+ //- Vector part of the quaternion ( = axis of rotation)
+ inline const vector& v() const;
- inline quaternion normalized() const;
+ //- The rotation tensor corresponding the quaternion
+ inline tensor R() const;
+ //- Return a vector of euler angles corresponding to the
+ //- specified rotation sequence
+ inline vector eulerAngles(const rotationSequence rs) const;
- // Edit
+ //- Return the quaternion normalized by its magnitude
+ inline quaternion normalized() const;
- //- Scalar part of the quaternion ( = cos(theta/2) for rotation)
- inline scalar& w();
- //- Vector part of the quaternion ( = axis of rotation)
- inline vector& v();
+ // Edit
- inline void normalize();
+ //- Scalar part of the quaternion ( = cos(theta/2) for rotation)
+ inline scalar& w();
+ //- Vector part of the quaternion ( = axis of rotation)
+ inline vector& v();
- // Transform
+ //- Normalize the quaternion by its magnitude
+ inline void normalize();
- //- Rotate the given vector
- inline vector transform(const vector& v) const;
- //- Rotate the given vector anti-clockwise
- inline vector invTransform(const vector& v) const;
+ // Transform
- //- Rotate the given quaternion (and normalize)
- inline quaternion transform(const quaternion& q) const;
+ //- Rotate the given vector
+ inline vector transform(const vector& v) const;
- //- Rotate the given quaternion anti-clockwise (and normalize)
- inline quaternion invTransform(const quaternion& q) const;
+ //- Rotate the given vector anti-clockwise
+ inline vector invTransform(const vector& v) const;
+ //- Rotate the given quaternion (and normalize)
+ inline quaternion transform(const quaternion& q) const;
- // Member operators
+ //- Rotate the given quaternion anti-clockwise (and normalize)
+ inline quaternion invTransform(const quaternion& q) const;
- inline void operator=(const quaternion&);
- inline void operator+=(const quaternion&);
- inline void operator-=(const quaternion&);
- inline void operator*=(const quaternion&);
- inline void operator/=(const quaternion&);
- inline void operator=(const scalar);
+ // Member Operators
- inline void operator=(const vector&);
+ inline void operator=(const quaternion& q);
+ inline void operator+=(const quaternion& q);
+ inline void operator-=(const quaternion& q);
+ inline void operator*=(const quaternion& q);
+ inline void operator/=(const quaternion& q);
- inline void operator*=(const scalar);
- inline void operator/=(const scalar);
+ //- Change scalar portion
+ inline void operator=(const scalar s);
+ //- Change vector portion
+ inline void operator=(const vector& v);
- // IOstream operators
-
- friend Istream& operator>>(Istream& is, quaternion&);
- friend Ostream& operator<<(Ostream& os, const quaternion& C);
+ inline void operator*=(const scalar s);
+ inline void operator/=(const scalar s);
};
@@ -284,6 +271,9 @@ inline bool contiguous<quaternion>() {return true;}
// * * * * * * * * * * * * * * * Global Operators * * * * * * * * * * * * * //
+Istream& operator>>(Istream& is, quaternion& q);
+Ostream& operator<<(Ostream& os, const quaternion& q);
+
inline bool operator==(const quaternion& q1, const quaternion& q2);
inline bool operator!=(const quaternion& q1, const quaternion& q2);
inline quaternion operator+(const quaternion& q1, const quaternion& q2);
diff --git a/src/OpenFOAM/primitives/quaternion/quaternionI.H b/src/OpenFOAM/primitives/quaternion/quaternionI.H
index d10f0115ffe21cf45bbe88025832e6b3c01c9d9c..13b4f70d9423b794228045e3bfb8e27f182d7daa 100644
--- a/src/OpenFOAM/primitives/quaternion/quaternionI.H
+++ b/src/OpenFOAM/primitives/quaternion/quaternionI.H
@@ -2,7 +2,7 @@
========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
- \\ / A nd |
+ \\ / A nd | Copyright (C) 2019 OpenCFD Ltd.
\\/ M anipulation |
-------------------------------------------------------------------------------
| Copyright (C) 2011-2016 OpenFOAM Foundation