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STYLE: adjust comments in quaternion

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- make I/O operators global (non-member)
This commit is contained in:
Mark Olesen
2019-04-26 10:27:53 +02:00
committed by Andrew Heather
parent 661d1f53df
commit 5f40a738d3
3 changed files with 57 additions and 71 deletions
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6
src/OpenFOAM/primitives/quaternion/quaternion.C
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@ -2,7 +2,7 @@
========= | ========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration | \\ / O peration |
\\ / A nd | \\ / A nd | Copyright (C) 2019 OpenCFD Ltd.
\\/ M anipulation | \\/ M anipulation |
------------------------------------------------------------------------------- -------------------------------------------------------------------------------
| Copyright (C) 2011-2016 OpenFOAM Foundation | 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) Foam::Istream& Foam::operator>>(Istream& is, quaternion& q)
{ {
// Read beginning of quaternion
is.readBegin("quaternion"); is.readBegin("quaternion");
is >> q.w() >> q.v(); is >> q.w() >> q.v();
// Read end of quaternion
is.readEnd("quaternion"); is.readEnd("quaternion");
is.check(FUNCTION_NAME); is.check(FUNCTION_NAME);

120
src/OpenFOAM/primitives/quaternion/quaternion.H
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@ -2,7 +2,7 @@
========= | ========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration | \\ / O peration |
\\ / A nd | \\ / A nd | Copyright (C) 2019 OpenCFD Ltd.
\\/ M anipulation | \\/ M anipulation |
------------------------------------------------------------------------------- -------------------------------------------------------------------------------
| Copyright (C) 2011-2016 OpenFOAM Foundation | Copyright (C) 2011-2016 OpenFOAM Foundation
@ -49,20 +49,13 @@ SourceFiles
namespace Foam 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 Declaration
\*---------------------------------------------------------------------------*/ \*---------------------------------------------------------------------------*/
class quaternion class quaternion
{ {
// private data // Private Data
//- Scalar part of the quaternion ( = cos(theta/2) for rotation) //- Scalar part of the quaternion ( = cos(theta/2) for rotation)
scalar w_; scalar w_;
@ -107,13 +100,13 @@ public:
}; };
// Member constants // Member Constants
//- Rank of quaternion is 1 //- Rank of quaternion is 1
static constexpr direction rank = 1; static constexpr direction rank = 1;
// Static data members // Static Data Members
static const char* const typeName; static const char* const typeName;
@ -134,7 +127,7 @@ public:
inline quaternion(const vector& d, const scalar theta); inline quaternion(const vector& d, const scalar theta);
//- Construct a rotation quaternion given the direction d //- 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 inline quaternion
( (
const vector& d, const vector& d,
@ -146,93 +139,87 @@ public:
inline explicit quaternion(const scalar w); inline explicit quaternion(const scalar w);
//- Construct a pure imaginary quaternion given the vector part, //- Construct a pure imaginary quaternion given the vector part,
// the scalar part = 0 //- the scalar part = 0
inline explicit quaternion(const vector& v); inline explicit quaternion(const vector& v);
//- Return the unit quaternion (versor) from the given vector //- 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); static inline quaternion unit(const vector& v);
//- Construct a quaternion given the three Euler angles //- Construct from three Euler angles
inline quaternion inline quaternion(const rotationSequence rs, const vector& angles);
(
const rotationSequence rs,
const vector& angles
);
//- Construct a quaternion from a rotation tensor //- Construct from a rotation tensor
inline explicit quaternion(const tensor& rotationTensor); inline explicit quaternion(const tensor& rotationTensor);
//- Construct from Istream //- Construct from Istream
quaternion(Istream&); explicit quaternion(Istream& is);
// Member functions // Member Functions
// Access // Access
//- Scalar part of the quaternion ( = cos(theta/2) for rotation) //- Scalar part of the quaternion ( = cos(theta/2) for rotation)
inline scalar w() const; inline scalar w() const;
//- Vector part of the quaternion ( = axis of rotation) //- Vector part of the quaternion ( = axis of rotation)
inline const vector& v() const; inline const vector& v() const;
//- The rotation tensor corresponding the quaternion //- The rotation tensor corresponding the quaternion
inline tensor R() const; inline tensor R() const;
//- Return a vector of euler angles corresponding to the //- Return a vector of euler angles corresponding to the
// specified rotation sequence //- specified rotation sequence
inline vector eulerAngles(const rotationSequence rs) const; inline vector eulerAngles(const rotationSequence rs) const;
inline quaternion normalized() const; //- Return the quaternion normalized by its magnitude
inline quaternion normalized() const;
// Edit // Edit
//- Scalar part of the quaternion ( = cos(theta/2) for rotation) //- Scalar part of the quaternion ( = cos(theta/2) for rotation)
inline scalar& w(); inline scalar& w();
//- Vector part of the quaternion ( = axis of rotation) //- Vector part of the quaternion ( = axis of rotation)
inline vector& v(); inline vector& v();
inline void normalize(); //- Normalize the quaternion by its magnitude
inline void normalize();
// Transform // Transform
//- Rotate the given vector //- Rotate the given vector
inline vector transform(const vector& v) const; inline vector transform(const vector& v) const;
//- Rotate the given vector anti-clockwise //- Rotate the given vector anti-clockwise
inline vector invTransform(const vector& v) const; inline vector invTransform(const vector& v) const;
//- Rotate the given quaternion (and normalize) //- Rotate the given quaternion (and normalize)
inline quaternion transform(const quaternion& q) const; inline quaternion transform(const quaternion& q) const;
//- Rotate the given quaternion anti-clockwise (and normalize) //- Rotate the given quaternion anti-clockwise (and normalize)
inline quaternion invTransform(const quaternion& q) const; inline quaternion invTransform(const quaternion& q) const;
// Member operators // Member Operators
inline void operator=(const quaternion&); inline void operator=(const quaternion& q);
inline void operator+=(const quaternion&); inline void operator+=(const quaternion& q);
inline void operator-=(const quaternion&); inline void operator-=(const quaternion& q);
inline void operator*=(const quaternion&); inline void operator*=(const quaternion& q);
inline void operator/=(const quaternion&); inline void operator/=(const quaternion& q);
inline void operator=(const scalar); //- Change scalar portion
inline void operator=(const scalar s);
inline void operator=(const vector&); //- Change vector portion
inline void operator=(const vector& v);
inline void operator*=(const scalar); inline void operator*=(const scalar s);
inline void operator/=(const scalar); inline void operator/=(const scalar s);
// IOstream operators
friend Istream& operator>>(Istream& is, quaternion&);
friend Ostream& operator<<(Ostream& os, const quaternion& C);
}; };
@ -284,6 +271,9 @@ inline bool contiguous<quaternion>() {return true;}
// * * * * * * * * * * * * * * * Global Operators * * * * * * * * * * * * * // // * * * * * * * * * * * * * * * 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 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); inline quaternion operator+(const quaternion& q1, const quaternion& q2);

2
src/OpenFOAM/primitives/quaternion/quaternionI.H
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@ -2,7 +2,7 @@
========= | ========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration | \\ / O peration |
\\ / A nd | \\ / A nd | Copyright (C) 2019 OpenCFD Ltd.
\\/ M anipulation | \\/ M anipulation |
------------------------------------------------------------------------------- -------------------------------------------------------------------------------
| Copyright (C) 2011-2016 OpenFOAM Foundation | Copyright (C) 2011-2016 OpenFOAM Foundation