mirror of
https://develop.openfoam.com/Development/openfoam.git
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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
This commit is contained in:
Henry Weller
@ -0,0 +1,176 @@
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/*---------------------------------------------------------------------------*\
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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 | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Class
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Foam::SpatialTensor
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Description
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Templated 3D spatial tensor derived from MatrixSpace used to represent
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transformations of spatial vectors and the angular and linear inertia of
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rigid bodies.
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Reference:
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\verbatim
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Featherstone, R. (2008).
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Rigid body dynamics algorithms.
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Springer.
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\endverbatim
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SourceFiles
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SpatialTensorI.H
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SeeAlso
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Foam::MatrixSpace
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Foam::Tensor
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Foam::SpatialVector
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\*---------------------------------------------------------------------------*/
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#ifndef SpatialTensor_H
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#define SpatialTensor_H
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#include "Tensor.H"
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#include "SpatialVector.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class SpatialTensor Declaration
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\*---------------------------------------------------------------------------*/
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template<class Cmpt>
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class SpatialTensor
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:
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public MatrixSpace<SpatialTensor<Cmpt>, Cmpt, 6, 6>
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{
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public:
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// Member constants
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//- Rank of Tensor is 2
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static const direction rank = 2;
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// Static data members
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//- Identity matrix for square matrices
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static const SpatialTensor I;
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// Constructors
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//- Construct null
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inline SpatialTensor();
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//- Construct initialized to zero
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inline explicit SpatialTensor(const Foam::zero);
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//- Construct given MatrixSpace of the same rank
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inline SpatialTensor(const typename SpatialTensor::msType&);
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//- Construct given 36 components
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inline SpatialTensor
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(
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const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
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const Cmpt& t03, const Cmpt& t04, const Cmpt& t05,
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const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
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const Cmpt& t13, const Cmpt& t14, const Cmpt& t15,
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const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
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const Cmpt& t23, const Cmpt& t24, const Cmpt& t25,
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const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
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const Cmpt& t33, const Cmpt& t34, const Cmpt& t35,
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const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
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const Cmpt& t43, const Cmpt& t44, const Cmpt& t45,
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const Cmpt& t50, const Cmpt& t51, const Cmpt& t52,
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const Cmpt& t53, const Cmpt& t54, const Cmpt& t55
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);
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//- Construct from Istream
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inline SpatialTensor(Istream&);
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// Member Operators
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inline void operator=(const Foam::zero);
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};
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template<class Cmpt>
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class typeOfTranspose<Cmpt, SpatialTensor<Cmpt>>
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{
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public:
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typedef SpatialTensor<Cmpt> type;
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};
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template<class Cmpt>
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class typeOfOuterProduct<Cmpt, SpatialVector<Cmpt>, SpatialVector<Cmpt>>
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{
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public:
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typedef SpatialTensor<Cmpt> type;
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};
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template<class Cmpt>
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class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialVector<Cmpt>>
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{
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public:
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typedef SpatialVector<Cmpt> type;
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};
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template<class Cmpt>
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class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialTensor<Cmpt>>
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{
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public:
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typedef SpatialTensor<Cmpt> type;
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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// Include inline implementations
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#include "SpatialTensorI.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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@ -0,0 +1,132 @@
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/*---------------------------------------------------------------------------*\
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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 | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
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||||
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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\*---------------------------------------------------------------------------*/
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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template<class Cmpt>
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inline Foam::SpatialTensor<Cmpt>::SpatialTensor()
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{}
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template<class Cmpt>
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inline Foam::SpatialTensor<Cmpt>::SpatialTensor(const Foam::zero z)
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:
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SpatialTensor::msType(z)
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{}
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template<class Cmpt>
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inline Foam::SpatialTensor<Cmpt>::SpatialTensor
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(
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const typename SpatialTensor::msType& ms
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)
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:
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SpatialTensor::msType(ms)
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{}
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template<class Cmpt>
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inline Foam::SpatialTensor<Cmpt>::SpatialTensor
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(
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const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
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const Cmpt& t03, const Cmpt& t04, const Cmpt& t05,
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const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
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const Cmpt& t13, const Cmpt& t14, const Cmpt& t15,
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const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
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const Cmpt& t23, const Cmpt& t24, const Cmpt& t25,
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const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
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const Cmpt& t33, const Cmpt& t34, const Cmpt& t35,
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const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
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const Cmpt& t43, const Cmpt& t44, const Cmpt& t45,
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const Cmpt& t50, const Cmpt& t51, const Cmpt& t52,
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const Cmpt& t53, const Cmpt& t54, const Cmpt& t55
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)
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{
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this->v_[0] = t00;
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this->v_[1] = t01;
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this->v_[2] = t02;
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this->v_[3] = t03;
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this->v_[4] = t04;
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this->v_[5] = t05;
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this->v_[6] = t10;
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this->v_[7] = t11;
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this->v_[8] = t12;
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this->v_[9] = t13;
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this->v_[10] = t14;
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this->v_[11] = t15;
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this->v_[12] = t20;
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this->v_[13] = t21;
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this->v_[14] = t22;
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this->v_[15] = t23;
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this->v_[16] = t24;
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this->v_[17] = t25;
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this->v_[18] = t30;
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this->v_[19] = t31;
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this->v_[20] = t32;
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this->v_[21] = t33;
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this->v_[22] = t34;
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this->v_[23] = t35;
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this->v_[24] = t40;
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this->v_[25] = t41;
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this->v_[26] = t42;
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this->v_[27] = t43;
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this->v_[28] = t44;
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this->v_[29] = t45;
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this->v_[30] = t50;
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this->v_[31] = t51;
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this->v_[32] = t52;
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this->v_[33] = t53;
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this->v_[34] = t54;
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this->v_[35] = t55;
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}
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template<class Cmpt>
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inline Foam::SpatialTensor<Cmpt>::SpatialTensor(Istream& is)
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:
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SpatialTensor::msType(is)
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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template<class Cmpt>
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inline void Foam::SpatialTensor<Cmpt>::operator=(const Foam::zero z)
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{
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SpatialTensor::msType::operator=(z);
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}
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// ************************************************************************* //
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@ -0,0 +1,88 @@
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/*---------------------------------------------------------------------------*\
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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 | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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||||
under the terms of the GNU General Public License as published by
|
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the Free Software Foundation, either version 3 of the License, or
|
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(at your option) any later version.
|
||||
|
||||
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
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You should have received a copy of the GNU General Public License
|
||||
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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\*---------------------------------------------------------------------------*/
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#include "spatialTensor.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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template<>
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const char* const Foam::spatialTensor::vsType::typeName = "spatialTensor";
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template<>
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const char* const Foam::spatialTensor::vsType::componentNames[] =
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{
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"Exx", "Exy", "Exz", "Erxx", "Erxy", "Erxz",
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"Eyx", "Eyy", "Eyz", "Eryx", "Eryy", "Eryz",
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"Ezx", "Ezy", "Ezz", "Erzx", "Erzy", "Erzz"
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"Erxx", "Erxy", "Erxz", "Exx", "Exy", "Exz",
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"Eryx", "Eryy", "Eryz", "Eyx", "Eyy", "Eyz",
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"Erzx", "Erzy", "Erzz", "Ezx", "Ezy", "Ezz"
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};
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template<>
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const Foam::spatialTensor Foam::spatialTensor::vsType::zero
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(
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Foam::spatialTensor::uniform(0)
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);
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template<>
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const Foam::spatialTensor Foam::spatialTensor::vsType::one
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(
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spatialTensor::uniform(1)
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);
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template<>
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const Foam::spatialTensor Foam::spatialTensor::vsType::max
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(
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spatialTensor::uniform(VGREAT)
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);
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template<>
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const Foam::spatialTensor Foam::spatialTensor::vsType::min
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(
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spatialTensor::uniform(-VGREAT)
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);
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template<>
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const Foam::spatialTensor Foam::spatialTensor::vsType::rootMax
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(
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spatialTensor::uniform(ROOTVGREAT)
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);
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template<>
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const Foam::spatialTensor Foam::spatialTensor::vsType::rootMin
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(
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spatialTensor::uniform(-ROOTVGREAT)
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);
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template<>
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const Foam::spatialTensor Foam::spatialTensor::I
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(
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Foam::spatialTensor::identity()
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);
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// ************************************************************************* //
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@ -0,0 +1,62 @@
|
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/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / 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/>.
|
||||
|
||||
Typedef
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||||
Foam::spatialTensor
|
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|
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Description
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SpatialTensor of scalars.
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|
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SourceFiles
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||||
spatialTensor.C
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||||
|
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\*---------------------------------------------------------------------------*/
|
||||
|
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#ifndef spatialTensor_H
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#define spatialTensor_H
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#include "SpatialTensor.H"
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|
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
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namespace Foam
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{
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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|
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typedef SpatialTensor<scalar> spatialTensor;
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//- Data associated with spatialTensor type are contiguous
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template<>
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inline bool contiguous<spatialTensor>() {return true;}
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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|
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
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|
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#endif
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|
||||
// ************************************************************************* //
|
||||
Reference in New Issue
Block a user