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ENH: additional rotation tests (#1292)
This commit is contained in:
Mark Olesen
committed by
Andrew Heather
Andrew Heather
parent
bc53e50c90
commit
661d1f53df
@ -1,2 +1,5 @@
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/* EXE_INC = */
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/* EXE_LIBS = */
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EXE_INC = \
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-I$(LIB_SRC)/meshTools/lnInclude
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EXE_LIBS = \
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-lmeshTools
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@ -2,7 +2,7 @@
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd |
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\\ / A nd | Copyright (C) 2019 OpenCFD Ltd.
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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| Copyright (C) 2011-2016 OpenFOAM Foundation
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@ -34,12 +34,29 @@ Description
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#include "argList.H"
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#include "quaternion.H"
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#include "septernion.H"
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#include "mathematicalConstants.H"
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#include "unitConversion.H"
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#include "Tuple2.H"
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#include "IOstreams.H"
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#include "transform.H"
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#include "axisAngleRotation.H"
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#include "EulerCoordinateRotation.H"
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using namespace Foam;
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using namespace Foam::coordinateRotations;
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void printRotation(const tensor& rot)
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{
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Info<< "rotation = " << rot << nl;
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}
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void printRotation(const quaternion& quat)
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{
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printRotation(quat.R());
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Info<< "quaternion " << quat << nl;
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}
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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@ -57,7 +74,24 @@ int main(int argc, char *argv[])
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"vector",
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"Rotate by '(yaw pitch roll)' in degrees"
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);
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argList::addOption
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(
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"euler",
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"vector",
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"Rotate by '(phi theta psi)' in degrees"
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);
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argList::addOption
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(
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"xyz",
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"vector",
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"Rotate about x-y-z axes in degrees"
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);
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argList::addOption
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(
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"zyx",
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"vector",
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"Rotate about z-y-x axes in degrees"
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);
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argList::addOption
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(
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"rotate-angle",
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@ -70,34 +104,77 @@ int main(int argc, char *argv[])
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if (args.readIfPresent("rollPitchYaw", rotVector))
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{
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Info<< "Rotate by" << nl
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Info<< nl
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<< "Rotate by" << nl
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<< " roll " << rotVector.x() << nl
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<< " pitch " << rotVector.y() << nl
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<< " yaw " << rotVector.z() << nl;
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// degToRad
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rotVector *= constant::mathematical::pi/180.0;
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rotVector *= degToRad();
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const quaternion quat(quaternion::rotationSequence::XYZ, rotVector);
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Info<< "quaternion " << quat << endl;
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Info<< "rotation = " << quat.R() << endl;
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printRotation(quat);
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}
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if (args.readIfPresent("yawPitchRoll", rotVector))
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{
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Info<< "Rotate by" << nl
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Info<< nl
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<< "Rotate by" << nl
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<< " yaw " << rotVector.x() << nl
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<< " pitch " << rotVector.y() << nl
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<< " roll " << rotVector.z() << nl;
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// degToRad
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rotVector *= constant::mathematical::pi/180.0;
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rotVector *= degToRad();
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const quaternion quat(quaternion::rotationSequence::ZYX, rotVector);
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Info<< "quaternion " << quat << endl;
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Info<< "rotation = " << quat.R() << endl;
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printRotation(quat);
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}
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if (args.readIfPresent("euler", rotVector))
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{
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Info<< nl
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<< "Rotate by" << nl
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<< " phi " << rotVector.x() << nl
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<< " theta " << rotVector.y() << nl
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<< " psi " << rotVector.z() << nl;
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printRotation(euler(rotVector, true).R());
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}
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if (args.readIfPresent("xyz", rotVector))
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{
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Info<< nl
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<< "Rotate about" << nl
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<< " x " << rotVector.x() << nl
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<< " y " << rotVector.y() << nl
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<< " z " << rotVector.z() << nl;
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Vector<tensor> Rs
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(
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axisAngle(vector(1,0,0), rotVector.x(), true).R(),
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axisAngle(vector(0,1,0), rotVector.y(), true).R(),
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axisAngle(vector(0,0,1), rotVector.z(), true).R()
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);
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printRotation(Rs.x() & Rs.y() & Rs.z());
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}
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if (args.readIfPresent("zyx", rotVector))
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{
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Info<< nl
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<< "Rotate about" << nl
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<< " z " << rotVector.x() << nl
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<< " y " << rotVector.y() << nl
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<< " x " << rotVector.z() << nl;
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Vector<tensor> Rs
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(
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axisAngle(vector(1,0,0), rotVector.z(), true).R(),
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axisAngle(vector(0,1,0), rotVector.y(), true).R(),
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axisAngle(vector(0,0,1), rotVector.x(), true).R()
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);
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printRotation(Rs.z() & Rs.y() & Rs.x());
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}
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if (args.found("rotate-angle"))
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{
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const Tuple2<vector, scalar> axisAngle
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@ -105,60 +182,61 @@ int main(int argc, char *argv[])
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args.lookup("rotate-angle")()
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);
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Info<< "Rotate" << nl
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Info<< nl
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<< "Rotate" << nl
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<< " about " << axisAngle.first() << nl
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<< " angle " << axisAngle.second() << nl;
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const quaternion quat
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(
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axisAngle.first(),
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axisAngle.second() * constant::mathematical::pi/180.0 // degToRad
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degToRad(axisAngle.second())
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);
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Info<< "quaternion " << quat << endl;
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Info<< "rotation = " << quat.R() << endl;
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printRotation(quat);
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Info<< "transform Ra = "
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<< Ra
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(
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axisAngle.first() / mag(axisAngle.first()),
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axisAngle.second() * constant::mathematical::pi/180.0
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) << endl;
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) << nl;
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Info<< "-ve Ra = "
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<< Ra
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(
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axisAngle.first() / mag(axisAngle.first()),
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-axisAngle.second() * constant::mathematical::pi/180.0
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) << endl;
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) << nl;
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}
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Info<< nl << nl;
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quaternion q(vector(1, 2, 3), 0.7853981);
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Info<< "q " << q << endl;
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Info<< "q " << q << nl;
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vector v(0.1, 0.4, 2.1);
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Info<< "v " << v << endl;
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Info<< "v " << v << nl;
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Info<< "inv(q)*q " << inv(q)*q << endl;
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Info<< "inv(q)*q " << inv(q)*q << nl;
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Info<< "q*quaternion(0, v)*conjugate(q) "
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<< q*quaternion(0, v)*conjugate(q) << endl;
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<< q*quaternion(0, v)*conjugate(q) << nl;
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Info<< "q.R() " << q.R() << endl;
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Info<< "q.transform(v) " << q.transform(v) << endl;
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Info<< "q.R() & v " << (q.R() & v) << endl;
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Info<< "q.R() " << q.R() << nl;
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Info<< "q.transform(v) " << q.transform(v) << nl;
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Info<< "q.R() & v " << (q.R() & v) << nl;
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Info<< "quaternion(q.R()).transform(v) "
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<< (quaternion(q.R()).transform(v)) << endl;
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<< (quaternion(q.R()).transform(v)) << nl;
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Info<< "q.invTransform(v) " << q.invTransform(v) << endl;
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Info<< "q.invTransform(v) " << q.invTransform(v) << nl;
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septernion tr(vector(0, 0.1, 0), q);
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Info<< "tr " << tr << endl;
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Info<< "tr " << tr << nl;
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Info<< "inv(tr)*tr " << inv(tr)*tr << endl;
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Info<< "inv(tr)*tr " << inv(tr)*tr << nl;
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Info<< "tr.transform(v) " << tr.transformPoint(v) << endl;
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Info<< "tr.transform(v) " << tr.transformPoint(v) << nl;
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vector origin(1, 2, 4);
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@ -168,9 +246,9 @@ int main(int argc, char *argv[])
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<< " "
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<< septernion(-origin)
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.transformPoint(q.transform(septernion(origin).transformPoint(v)))
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<< endl;
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<< nl;
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Info<< "Test conversion from and to Euler-angles" << endl;
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Info<< "Test conversion from and to Euler-angles" << nl;
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vector angles(0.1, 0.2, 0.3);
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for (int rs=quaternion::ZYX; rs<quaternion::XZX; ++rs)
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{
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@ -188,7 +266,7 @@ int main(int argc, char *argv[])
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FatalErrorInFunction
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<< "Inconsistent conversion for rotation sequence "
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<< rs << exit(FatalError)
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<< endl;
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<< nl;
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}
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}
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@ -202,9 +280,9 @@ int main(int argc, char *argv[])
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ss[2] = septernion(vector(0, 0.3, 0), quaternion(0.3, vector(3, 2, 1)));
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w[2] = 0.4;
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Info<< "average(ss, w) " << average(ss, w) << endl;
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Info<< "average(ss, w) " << average(ss, w) << nl;
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Info<< "End\n" << endl;
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Info<< "\nEnd\n" << endl;
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return 0;
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}
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