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septernion: Changed definition of the forward transformation for consistency with spatialTransform

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inline Foam::vector Foam::septernion::transformPoint(const vector& v) const
{
    return r().transform(v - t());
}

Now there is a 1:1 correspondence between septernion and
spatialTransform and a septernion constructor from spatialTransform
provided.

Additionally "septernion::transform" has been renamed
"septernion::transformPoint" to clarify that it transforms coordinate
points rather than displacements or other relative vectors.
This commit is contained in:
Henry Weller
2016-04-15 11:27:18 +01:00
parent 980717ad36
commit 6a5d5e903e
20 changed files with 108 additions and 83 deletions
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20
applications/test/quaternion/Test-quaternion.C
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@ -39,10 +39,10 @@ using namespace Foam;
int main(int argc, char *argv[])
{
quaternion q(vector(1, 0, 0), 0.7853981);
quaternion q(vector(1, 2, 3), 0.7853981);
Info<< "q " << q << endl;
vector v(0, 1, 0);
vector v(0.1, 0.4, 2.1);
Info<< "v " << v << endl;
Info<< "inv(q)*q " << inv(q)*q << endl;
@ -50,8 +50,11 @@ int main(int argc, char *argv[])
Info<< "q*quaternion(0, v)*conjugate(q) "
<< q*quaternion(0, v)*conjugate(q) << endl;
Info<< "q.R() " << q.R() << endl;
Info<< "q.transform(v) " << q.transform(v) << endl;
Info<< "q.R() & v " << (q.R() & v) << endl;
Info<< "quaternion(q.R()).transform(v) "
<< (quaternion(q.R()).transform(v)) << endl;
Info<< "q.invTransform(v) " << q.invTransform(v) << endl;
@ -60,13 +63,16 @@ int main(int argc, char *argv[])
Info<< "inv(tr)*tr " << inv(tr)*tr << endl;
Info<< "tr.transform(v) " << tr.transform(v) << endl;
Info<< "tr.transform(v) " << tr.transformPoint(v) << endl;
Info<< "(septernion(vector(0, -1, 0))*q*septernion(vector(0, 1, 0)))"
vector origin(1, 2, 4);
Info<< "(septernion(-origin)*q*septernion(origin))"
<< ".transform(v) "
<< (septernion(vector(0, -1, 0))
*q
*septernion(vector(0, 1, 0))).transform(v)
<< (septernion(-origin)*q*septernion(origin)).transformPoint(v)
<< " "
<< septernion(-origin)
.transformPoint(q.transform(septernion(origin).transformPoint(v)))
<< endl;
Info<< "Test conversion from and to Euler-angles" << endl;