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/CompactSpatialTensor/CompactSpatialTensor.H

@@ -0,0 +1,144 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  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::CompactSpatialTensor
+
+Description
+    Templated 3D compact spatial tensor derived from MatrixSpace used to
+    represent transformations of spatial vectors and the angular and linear
+    inertia of rigid bodies.
+
+    Reference:
+    \verbatim
+        Featherstone, R. (2008).
+        Rigid body dynamics algorithms.
+        Springer.
+    \endverbatim
+
+SourceFiles
+    CompactSpatialTensorI.H
+
+SeeAlso
+    Foam::MatrixSpace
+    Foam::SpatialTensor
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef CompactSpatialTensor_H
+#define CompactSpatialTensor_H
+
+#include "SpatialTensor.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+/*---------------------------------------------------------------------------*\
+                     Class CompactSpatialTensor Declaration
+\*---------------------------------------------------------------------------*/
+
+template<class Cmpt>
+class CompactSpatialTensor
+:
+    public MatrixSpace<CompactSpatialTensor<Cmpt>, Cmpt, 6, 3>
+{
+
+public:
+
+    // Constructors
+
+        //- Construct null
+        inline CompactSpatialTensor();
+
+        inline explicit CompactSpatialTensor(const Foam::zero);
+
+        //- Construct given MatrixSpace of the same rank
+        inline CompactSpatialTensor
+        (
+            const typename CompactSpatialTensor::msType&
+        );
+
+        //- Construct given 18 components
+        inline CompactSpatialTensor
+        (
+            const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
+            const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
+            const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
+            const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
+            const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
+            const Cmpt& t50, const Cmpt& t51, const Cmpt& t52
+        );
+
+        //- Construct from Istream
+        inline CompactSpatialTensor(Istream&);
+
+
+    // Member Operators
+
+        inline void operator=(const Foam::zero);
+};
+
+
+template<class Cmpt>
+class typeOfInnerProduct<Cmpt, CompactSpatialTensor<Cmpt>, Tensor<Cmpt>>
+{
+public:
+
+    typedef CompactSpatialTensor<Cmpt> type;
+};
+
+
+template<class Cmpt>
+class typeOfInnerProduct<Cmpt, CompactSpatialTensor<Cmpt>, Vector<Cmpt>>
+{
+public:
+
+    typedef SpatialVector<Cmpt> type;
+};
+
+
+template<class Cmpt>
+class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, CompactSpatialTensor<Cmpt>>
+{
+public:
+
+    typedef CompactSpatialTensor<Cmpt> type;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// Include inline implementations
+#include "CompactSpatialTensorI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //