src/OpenFOAM/primitives/spatialVectorAlgebra: New classes to support spatial vector algebra

Based on definitions in chapter 2 of the book:
    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.

This work is sponsored by Carnegie Wave Energy Ltd

src/OpenFOAM/primitives/spatialVectorAlgebra/SpatialVector/SpatialVector.H

@@ -0,0 +1,131 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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::SpatialVector
+
+Description
+    Templated 3D spatial vector derived from VectorSpace used to represent the
+    anglular and linear components of position, velocity and acceleration of
+    rigid bodies.
+
+    Reference:
+    \verbatim
+        Featherstone, R. (2008).
+        Rigid body dynamics algorithms.
+        Springer.
+    \endverbatim
+
+SourceFiles
+    SpatialVectorI.H
+
+SeeAlso
+    Foam::VectorSpace
+    Foam::Vector
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef SpatialVector_H
+#define SpatialVector_H
+
+#include "Vector.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+                         Class SpatialVector Declaration
+\*---------------------------------------------------------------------------*/
+
+template<class Cmpt>
+class SpatialVector
+:
+    public VectorSpace<SpatialVector<Cmpt>, Cmpt, 6>
+{
+
+public:
+
+    // Constructors
+
+        //- Construct null
+        inline SpatialVector();
+
+        //- Construct initialized to zero
+        inline explicit SpatialVector(const Foam::zero);
+
+        //- Construct given VectorSpace of the same rank
+        inline SpatialVector(const typename SpatialVector::vsType&);
+
+        //- Construct from the angular and linear vector components
+        inline SpatialVector
+        (
+            const Vector<Cmpt>& angular,
+            const Vector<Cmpt>& linear
+        );
+
+        //- Construct given 6 components
+        inline SpatialVector
+        (
+            const Cmpt& v0,
+            const Cmpt& v1,
+            const Cmpt& v2,
+            const Cmpt& v3,
+            const Cmpt& v4,
+            const Cmpt& v5
+        );
+
+        //- Construct from Istream
+        inline SpatialVector(Istream&);
+
+
+    // Member Functions
+
+        //- Return the angular part of the spatial vector as a vector
+        inline Vector<Cmpt> angular() const;
+
+        //- Return the linear part of the spatial vector as a vector
+        inline Vector<Cmpt> linear() const;
+
+
+    // Member Operators
+
+        inline void operator=(const Foam::zero);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// Include inline implementations
+#include "SpatialVectorI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //