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quaternion: Added generalized construction from and conversion to Euler-angles

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The particular rotation sequence is specified via the enumeration:

    //- Euler-angle rotation sequence
    enum rotationSequence
    {
        ZYX, ZYZ, ZXY, ZXZ, YXZ, YXY, YZX, YZY, XYZ, XYX, XZY, XZX
    };

and provided as an argument to the constructor from Euler-angles

    //- Construct a quaternion given the three Euler angles:
    inline quaternion
    (
        const rotationSequence rs,
        const vector& angles
    );

and conversion to Euler-angles:

    //- Return a vector of euler angles corresponding to the
    //  specified rotation sequence
    inline vector eulerAngles(const rotationSequence rs) const;
This commit is contained in:
Henry Weller
2016-03-14 08:07:42 +00:00
parent 36f19c88c4
commit dbe5d5288b
8 changed files with 366 additions and 50 deletions
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2
src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/SDA/SDA.C
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@ -90,7 +90,7 @@ Foam::septernion Foam::solidBodyMotionFunctions::SDA::transformation() const
swayA_*(sin(wr*time + phs) - sin(phs)),
heaveA_*(sin(wr*time + phh) - sin(phh))
);
quaternion R(rollA*sin(wr*time + phr), 0, 0);
quaternion R(quaternion::XYZ, vector(rollA*sin(wr*time + phr), 0, 0));
septernion TR(septernion(CofG_ + T)*R*septernion(-CofG_));
InfoInFunction << "Time = " << time << " transformation: " << TR << endl;

2
src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/linearMotion/linearMotion.C
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@ -73,7 +73,7 @@ Foam::solidBodyMotionFunctions::linearMotion::transformation() const
// Translation of centre of gravity with constant velocity
const vector displacement = velocity_*t;
quaternion R(0, 0, 0);
quaternion R(1);
septernion TR(septernion(displacement)*R);
InfoInFunction << "Time = " << t << " transformation: " << TR << endl;

2
src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/oscillatingLinearMotion/oscillatingLinearMotion.C
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@ -73,7 +73,7 @@ Foam::solidBodyMotionFunctions::oscillatingLinearMotion::transformation() const
const vector displacement = amplitude_*sin(omega_*t);
quaternion R(0, 0, 0);
quaternion R(1);
septernion TR(septernion(displacement)*R);
InfoInFunction << "Time = " << t << " transformation: " << TR << endl;

2
src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/oscillatingRotatingMotion/oscillatingRotatingMotion.C
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@ -81,7 +81,7 @@ transformation() const
// Convert the rotational motion from deg to rad
eulerAngles *= pi/180.0;
quaternion R(eulerAngles.x(), eulerAngles.y(), eulerAngles.z());
quaternion R(quaternion::XYZ, eulerAngles);
septernion TR(septernion(origin_)*R*septernion(-origin_));
InfoInFunction << "Time = " << t << " transformation: " << TR << endl;

2
src/dynamicFvMesh/solidBodyMotionFvMesh/solidBodyMotionFunctions/tabulated6DoFMotion/tabulated6DoFMotion.C
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@ -104,7 +104,7 @@ Foam::solidBodyMotionFunctions::tabulated6DoFMotion::transformation() const
// Convert the rotational motion from deg to rad
TRV[1] *= pi/180.0;
quaternion R(TRV[1].x(), TRV[1].y(), TRV[1].z());
quaternion R(quaternion::XYZ, TRV[1]);
septernion TR(septernion(CofG_ + TRV[0])*R*septernion(-CofG_));
InfoInFunction << "Time = " << t << " transformation: " << TR << endl;