Add the OpenFOAM source tree

applications/test/quaternion/Make/files

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+Test-quaternion.C
+
+EXE = $(FOAM_USER_APPBIN)/Test-quaternion

applications/test/quaternion/Test-quaternion.C

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+#include "quaternion.H"
+#include "septernion.H"
+#include "IOstreams.H"
+
+using namespace Foam;
+
+int main()
+{
+    quaternion q(vector(1, 0, 0), 0.7853981);
+    Info<< "q " << q << endl;
+
+    vector v(0, 1, 0);
+    Info<< "v " << v << endl;
+
+    Info<< "inv(q)*q " << inv(q)*q << endl;
+
+    Info<< "q*quaternion(0, v)*conjugate(q) "
+        << q*quaternion(0, v)*conjugate(q) << endl;
+
+    Info<< "q.transform(v) " << q.transform(v) << endl;
+    Info<< "q.R() & v " << (q.R() & v) << endl;
+
+    Info<< "q.invTransform(v) " << q.invTransform(v) << endl;
+
+    septernion tr(vector(0, 0.1, 0), q);
+    Info<< "tr " << tr << endl;
+
+    Info<< "inv(tr)*tr " << inv(tr)*tr << endl;
+
+    Info<< "tr.transform(v) " << tr.transform(v) << endl;
+
+    Info<< "(septernion(vector(0, -1, 0))*q*septernion(vector(0, 1, 0)))"
+        << ".transform(v) "
+        <<  (septernion(vector(0, -1, 0))
+           *q
+           *septernion(vector(0, 1, 0))).transform(v)
+        << endl;
+
+    return 0;
+}