ENH: improve, simplify, rationalize coordinate system handling (issue #863)

Previously the coordinate system functionality was split between
coordinateSystem and coordinateRotation. The coordinateRotation stored
the rotation tensor and handled all tensor transformations.

The functionality has now been revised and consolidated into the
coordinateSystem classes. The sole purpose of coordinateRotation
is now just to provide a selectable mechanism of how to define the
rotation tensor (eg, axis-angle, euler angles, local axes) for user
input, but after providing the appropriate rotation tensor it has
no further influence on the transformations.

--

The coordinateSystem class now contains an origin and a base rotation
tensor directly and various transformation methods.

  - The origin represents the "shift" for a local coordinate system.

  - The base rotation tensor represents the "tilt" or orientation
    of the local coordinate system in general (eg, for mapping
    positions), but may require position-dependent tensors when
    transforming vectors and tensors.

For some coordinate systems (currently the cylindrical coordinate system),
the rotation tensor required for rotating a vector or tensor is
position-dependent.

The new coordinateSystem and its derivates (cartesian, cylindrical,
indirect) now provide a uniform() method to define if the rotation
tensor is position dependent/independent.

The coordinateSystem transform and invTransform methods are now
available in two-parameter forms for obtaining position-dependent
rotation tensors. Eg,

      ... = cs.transform(globalPt, someVector);

In some cases it can be useful to use query uniform() to avoid
storage of redundant values.

      if (cs.uniform())
      {
          vector xx = cs.transform(someVector);
      }
      else
      {
          List<vector> xx = cs.transform(manyPoints, someVector);
      }

Support transform/invTransform for common data types:
   (scalar, vector, sphericalTensor, symmTensor, tensor).

====================
  Breaking Changes
====================

- These changes to coordinate systems and rotations may represent
  a breaking change for existing user coding.

- Relocating the rotation tensor into coordinateSystem itself means
  that the coordinate system 'R()' method now returns the rotation
  directly instead of the coordinateRotation. The method name 'R()'
  was chosen for consistency with other low-level entities (eg,
  quaternion).

  The following changes will be needed in coding:

      Old:  tensor rot = cs.R().R();
      New:  tensor rot = cs.R();

      Old:  cs.R().transform(...);
      New:  cs.transform(...);

  Accessing the runTime selectable coordinateRotation
  has moved to the rotation() method:

      Old:  Info<< "Rotation input: " << cs.R() << nl;
      New:  Info<< "Rotation input: " << cs.rotation() << nl;

- Naming consistency changes may also cause code to break.

      Old:  transformVector()
      New:  transformPrincipal()

  The old method name transformTensor() now simply becomes transform().

====================
  New methods
====================

For operations requiring caching of the coordinate rotations, the
'R()' method can be used with multiple input points:

       tensorField rots(cs.R(somePoints));

   and later

       Foam::transformList(rots, someVectors);

The rotation() method can also be used to change the rotation tensor
via a new coordinateRotation definition (issue #879).

The new methods transformPoint/invTransformPoint provide
transformations with an origin offset using Cartesian for both local
and global points. These can be used to determine the local position
based on the origin/rotation without interpreting it as a r-theta-z
value, for example.

================
  Input format
================

- Streamline dictionary input requirements

  * The default type is cartesian.
  * The default rotation type is the commonly used axes rotation
    specification (with e1/e2/3), which is assumed if the 'rotation'
    sub-dictionary does not exist.

    Example,

    Compact specification:

        coordinateSystem
        {
            origin  (0 0 0);
            e2      (0 1 0);
            e3      (0.5 0 0.866025);
        }

    Full specification (also accepts the longer 'coordinateRotation'
    sub-dictionary name):

        coordinateSystem
        {
            type    cartesian;
            origin  (0 0 0);

            rotation
            {
                type    axes;
                e2      (0 1 0);
                e3      (0.5 0 0.866025);
            }
        }

   This simplifies the input for many cases.

- Additional rotation specification 'none' (an identity rotation):

      coordinateSystem
      {
          origin  (0 0 0);
          rotation { type none; }
      }

- Additional rotation specification 'axisAngle', which is similar
  to the -rotate-angle option for transforming points (issue #660).
  For some cases this can be more intuitive.

  For example,

      rotation
      {
          type    axisAngle;
          axis    (0 1 0);
          angle   30;
      }
  vs.
      rotation
      {
          type    axes;
          e2      (0 1 0);
          e3      (0.5 0 0.866025);
      }

- shorter names (or older longer names) for the coordinate rotation
  specification.

     euler         EulerRotation
     starcd        STARCDRotation
     axes          axesRotation

================
  Coding Style
================
- use Foam::coordSystem namespace for categories of coordinate systems
  (cartesian, cylindrical, indirect). This reduces potential name
  clashes and makes a clearer declaration. Eg,

      coordSystem::cartesian csys_;

  The older names (eg, cartesianCS, etc) remain available via typedefs.

- added coordinateRotations namespace for better organization and
  reduce potential name clashes.

applications/solvers/heatTransfer/chtMultiRegionFoam/solid/createSolidFields.H

@@ -31,7 +31,12 @@
             coordinates.set
             (
                 i,
-                coordinateSystem::New(solidRegions[i], thermos[i])
+                coordinateSystem::New
+                (
+                    solidRegions[i],
+                    thermos[i],
+                    coordinateSystem::typeName_()
+                )
             );
 
             tmp<volVectorField> tkappaByCp =
@@ -57,7 +62,11 @@
             );
 
             aniAlphas[i].primitiveFieldRef() =
-                coordinates[i].R().transformVector(tkappaByCp());
+                coordinates[i].transformPrincipal
+                (
+                    solidRegions[i].cellCentres(),
+                    tkappaByCp()
+                );
             aniAlphas[i].correctBoundaryConditions();
 
         }

applications/solvers/heatTransfer/chtMultiRegionFoam/solid/setRegionSolidFields.H

@@ -15,7 +15,12 @@ if (!thermo.isotropic())
     const coordinateSystem& coodSys = coordinates[i];
 
     aniAlpha.primitiveFieldRef() =
-        coodSys.R().transformVector(tkappaByCp());
+        coodSys.transformPrincipal
+        (
+            mesh.cellCentres(),
+            tkappaByCp()
+        );
+
     aniAlpha.correctBoundaryConditions();
 
     taniAlpha = tmp<volSymmTensorField>

applications/test/coordinateSystem/Test-coordinateSystem.C

@@ -30,12 +30,68 @@ Description
 \*---------------------------------------------------------------------------*/
 
 #include "argList.H"
-#include "coordinateSystem.H"
+#include "Time.H"
+#include "coordinateSystems.H"
+#include "identityRotation.H"
+#include "indirectCS.H"
 #include "Fstream.H"
 #include "IOstreams.H"
+#include "transform.H"
 
 using namespace Foam;
 
+
+template<class T>
+void testTransform(const coordinateSystem& cs, const point& p, const T& val)
+{
+    Info<< "    " << pTraits<T>::typeName << ": " << val
+        << " transform: " << cs.transform(p, val)
+        << " invTransform: " << cs.invTransform(p, val) << nl;
+
+    // Info<< " both: " << cs.invTransform(p, cs.transform(p, val)) << nl;
+}
+
+
+void basicTests(const coordinateSystem& cs)
+{
+    cs.writeEntry(cs.name(), Info);
+
+    if (isA<coordSystem::indirect>(cs))
+    {
+        Info<< "indirect from:" << nl;
+        dynamicCast<const coordSystem::indirect>(cs).cs()
+            .writeEntry(cs.name(), Info);
+    }
+
+
+    Info<< "rotation: " << cs.R() << nl;
+
+    List<point> testPoints
+    ({
+        {1,0,0}, {0,1,0}, {0,0,1}, {1,1,1},
+    });
+
+
+    for (const point& p : testPoints)
+    {
+        Info<< nl
+            << "  test point: " << p
+            << " = local point " << cs.transformPoint(p)
+            << " = local coord " << cs.localPosition(p) << nl;
+
+        const vector v1(1, 1, 1);
+        const tensor t1(tensor::I);
+        const tensor t2(1, 2, 3, 4, 5, 6, 7, 8, 9);
+
+        testTransform(cs, p, v1);
+        testTransform(cs, p, t1);
+        testTransform(cs, p, t2);
+    }
+
+    Info<< nl;
+}
+
+
 void doTest(const dictionary& dict)
 {
     Info<< dict.dictName() << dict << nl;
@@ -43,18 +99,42 @@ void doTest(const dictionary& dict)
     // Could fail?
     const bool throwingIOError = FatalIOError.throwExceptions();
     const bool throwingError = FatalError.throwExceptions();
+
     try
     {
-        coordinateSystem cs1(dict.dictName(), dict);
+        auto cs1ptr = coordinateSystem::New(dict, "");
+        coordinateSystem& cs1 = *cs1ptr;
+        cs1.rename(dict.dictName());
 
-        coordinateSystem cs2;
+        basicTests(cs1);
+    }
+    catch (Foam::IOerror& err)
+    {
+        Info<< "Caught FatalIOError " << err << nl << endl;
+    }
+    catch (Foam::error& err)
+    {
+        Info<< "Caught FatalError " << err << nl << endl;
+    }
+    FatalError.throwExceptions(throwingError);
+    FatalIOError.throwExceptions(throwingIOError);
+}
 
-        // Move assign
-        cs2 = std::move(cs1);
 
-        // Info<<cs2 << nl;
-        cs2.writeDict(Info, true);
-        Info<< nl;
+void doTest(const objectRegistry& obr, const dictionary& dict)
+{
+    Info<< dict.dictName() << dict << nl;
+
+    // Could fail?
+    const bool throwingIOError = FatalIOError.throwExceptions();
+    const bool throwingError = FatalError.throwExceptions();
+
+    try
+    {
+        auto cs1ptr = coordinateSystem::New(obr, dict, word::null);
+        coordinateSystem& cs1 = *cs1ptr;
+
+        basicTests(cs1);
     }
     catch (Foam::IOerror& err)
     {
@@ -78,7 +158,40 @@ int main(int argc, char *argv[])
     argList::addArgument("dict .. dictN");
     argList args(argc, argv, false, true);
 
-    if (args.size() <= 1)
+    if (args.found("case"))
+    {
+        Info<<"using case for tests" << nl;
+
+        #include "createTime.H"
+
+        const coordinateSystems& systems = coordinateSystems::New(runTime);
+
+        Info<< systems.size() << " global systems" << nl;
+
+        for (const coordinateSystem& cs : systems)
+        {
+            basicTests(cs);
+        }
+
+        // systems.write();
+
+        for (label argi=1; argi < args.size(); ++argi)
+        {
+            const string& dictFile = args[argi];
+            IFstream is(dictFile);
+
+            dictionary inputDict(is);
+
+            forAllConstIters(inputDict, iter)
+            {
+                if (iter().isDict())
+                {
+                    doTest(runTime, iter().dict());
+                }
+            }
+        }
+    }
+    else if (args.size() <= 1)
     {
         Info<<"no coordinateSystem dictionaries to expand" << nl;
     }

applications/test/coordinateSystem/testCase0/constant/coordinateSystems

@@ -0,0 +1,32 @@
+/*--------------------------------*- C++ -*----------------------------------*\
+| =========                 |                                                 |
+| \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox           |
+|  \\    /   O peration     | Version:  v1806                                 |
+|   \\  /    A nd           | Web:      www.OpenFOAM.com                      |
+|    \\/     M anipulation  |                                                 |
+\*---------------------------------------------------------------------------*/
+FoamFile
+{
+    version     2.0;
+    format      ascii;
+    class       IOPtrList<coordinateSystem>;       //<-- Older name
+    object      coordinateSystems;
+}
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+(
+cs1
+{
+    type    cartesian;
+    origin  (1 2 3);
+    coordinateRotation
+    {
+        type    axes;
+        e1      (0 0 1);
+        e2      (0 1 0);
+    }
+}
+
+)
+
+// ************************************************************************* //

applications/test/coordinateSystem/testCase0/system/controlDict

@@ -0,0 +1,48 @@
+/*--------------------------------*- C++ -*----------------------------------*\
+| =========                 |                                                 |
+| \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox           |
+|  \\    /   O peration     | Version:  v1806                                 |
+|   \\  /    A nd           | Web:      www.OpenFOAM.com                      |
+|    \\/     M anipulation  |                                                 |
+\*---------------------------------------------------------------------------*/
+FoamFile
+{
+    version     2.0;
+    format      ascii;
+    class       dictionary;
+    object      controlDict;
+}
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+application     simpleFoam;
+
+startFrom       latestTime;
+
+startTime       0;
+
+stopAt          endTime;
+
+endTime         4;
+
+deltaT          1;
+
+writeControl    timeStep;
+
+writeInterval   100;
+
+purgeWrite      0;
+
+writeFormat     binary;
+
+writePrecision  6;
+
+writeCompression off;
+
+timeFormat      general;
+
+timePrecision   6;
+
+runTimeModifiable true;
+
+
+// ************************************************************************* //

applications/test/coordinateSystem/testCase1/constant/coordinateSystems

@@ -0,0 +1,86 @@
+/*--------------------------------*- C++ -*----------------------------------*\
+| =========                 |                                                 |
+| \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox           |
+|  \\    /   O peration     | Version:  v1806                                 |
+|   \\  /    A nd           | Web:      www.OpenFOAM.com                      |
+|    \\/     M anipulation  |                                                 |
+\*---------------------------------------------------------------------------*/
+FoamFile
+{
+    version     2.0;
+    format      ascii;
+//OLD  class       IOPtrList<coordinateSystem>;
+    class       coordinateSystems;
+    object      coordinateSystems;
+}
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+(
+cs1
+{
+    type    cartesian;
+    origin  (1 2 3);
+    rotation
+    {
+        type    axes;
+        e1      (0 0 1);
+        e2      (0 1 0);
+    }
+}
+
+cs2
+{
+    type    cartesian;
+    origin  (0 3 5);
+    e1      (1 2 0);
+    e2      (2 0 2);
+}
+
+cs3
+{
+    type    cartesian;
+    origin  (0 3 5);
+    coordinateRotation  // older name
+    {
+        type    euler;
+        angles  (90 0 0);
+    }
+}
+
+cs4
+{
+    type    cylindrical;
+    origin  (0 3 5);
+    rotation
+    {
+        type    euler;
+        angles  (90 0 0);
+    }
+}
+
+cyl
+{
+    type    cylindrical;
+    origin  (0 0 0);
+    degrees false;
+
+    rotation
+    {
+        type    axisAngle;
+        axis    (0 0 1);
+        angle   90;
+    }
+}
+
+ident
+{
+    origin  (0 0 0);
+    rotation
+    {
+        type    none;
+    }
+}
+
+)
+
+// ************************************************************************* //

applications/test/coordinateSystem/testCase1/system/controlDict

@@ -0,0 +1,48 @@
+/*--------------------------------*- C++ -*----------------------------------*\
+| =========                 |                                                 |
+| \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox           |
+|  \\    /   O peration     | Version:  v1806                                 |
+|   \\  /    A nd           | Web:      www.OpenFOAM.com                      |
+|    \\/     M anipulation  |                                                 |
+\*---------------------------------------------------------------------------*/
+FoamFile
+{
+    version     2.0;
+    format      ascii;
+    class       dictionary;
+    object      controlDict;
+}
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+application     simpleFoam;
+
+startFrom       latestTime;
+
+startTime       0;
+
+stopAt          endTime;
+
+endTime         4;
+
+deltaT          1;
+
+writeControl    timeStep;
+
+writeInterval   100;
+
+purgeWrite      0;
+
+writeFormat     binary;
+
+writePrecision  6;
+
+writeCompression off;
+
+timeFormat      general;
+
+timePrecision   6;
+
+runTimeModifiable true;
+
+
+// ************************************************************************* //

applications/test/coordinateSystem/testCsys1

@@ -10,12 +10,19 @@ FoamFile
     version     2.0;
     format      ascii;
     class       dictionary;
-    object      testDict;
+    object      testCsys1;
 }
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 // Rotate 90 deg around x: y -> z, z -> -y
 
+rot_x90
+{
+    origin  (0 0 0);
+    e1      (1 0 0);
+    e3      (0 -1 0);
+}
+
 rot_x90_axesRotation
 {
     origin  (0 0 0);
@@ -27,13 +34,24 @@ rot_x90_axesRotation
     }
 }
 
+rot_x90_axisAngle
+{
+    origin  (0 0 0);
+    coordinateRotation
+    {
+        type    axisAngle;
+        axis    (1 0 0);        // non-unit also OK
+        angle   90;
+    }
+}
+
 rot_x90_euler
 {
     origin  (0 0 0);
     coordinateRotation
     {
-        type    EulerRotation;
-        rotation (0 90 0);      // z-x'-z''
+        type    euler;
+        angles  (0 90 0);      // z-x'-z''
     }
 }
 
@@ -51,18 +69,40 @@ rot_z45_axesRotation
     }
 }
 
+rot_z45_axisAngle
+{
+    origin  (0 0 0);
+    coordinateRotation
+    {
+        type    axisAngle;
+        axis    (0 0 10);       // non-unit also OK
+        angle   45;
+    }
+}
+
 rot_z45_euler
 {
     origin  (0 0 0);
     coordinateRotation
     {
-        type    EulerRotation;
-        rotation (45 0 0);      // z-x'-z''
+        type    euler;
+        angles  (45 0 0);      // z-x'-z''
+    }
+}
+
+rot_z45_starcd
+{
+    origin  (0 0 0);
+    coordinateRotation
+    {
+        type    starcd;
+        angles  (45 0 0);      // z-x'-y''
     }
 }
 
 
 // Rotate -45 deg around z: x -> (1 -1 0), y = (1 1 0)
+
 rot_zm45_axesRotation
 {
     origin  (0 0 0);
@@ -74,13 +114,24 @@ rot_zm45_axesRotation
     }
 }
 
+rot_zm45_axisAngle
+{
+    origin  (0 0 0);
+    coordinateRotation
+    {
+        type    axisAngle;
+        axis    (0 0 10);       // non-unit also OK
+        angle   -45;
+    }
+}
+
 rot_zm45_euler
 {
     origin  (0 0 0);
     coordinateRotation
     {
-        type    EulerRotation;
-        rotation (-45 0 0);      // z-x'-z''
+        type    euler;
+        angles  (-45 0 0);      // z-x'-z''
     }
 }
 
@@ -98,13 +149,35 @@ null_axesRotation
     }
 }
 
+null_axisAngle0
+{
+    origin  (0 0 0);
+    coordinateRotation
+    {
+        type    axisAngle;
+        axis    (0 0 0);       // non-unit also OK
+        angle   0;
+    }
+}
+
+null_axisAngle1
+{
+    origin  (0 0 0);
+    coordinateRotation
+    {
+        type    axisAngle;
+        axis    (1 1 1);       // non-unit also OK
+        angle   0;
+    }
+}
+
 null_euler
 {
     origin  (0 0 0);
     coordinateRotation
     {
-        type    EulerRotation;
-        rotation (0 0 0);      // z-x'-z''
+        type    euler;
+        angles  (0 0 0);      // z-x'-z''
     }
 }
 

applications/test/coordinateSystem/testCsys2

@@ -0,0 +1,59 @@
+/*--------------------------------*- C++ -*----------------------------------*\
+| =========                 |                                                 |
+| \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox           |
+|  \\    /   O peration     | Version:  v1806                                 |
+|   \\  /    A nd           | Web:      www.OpenFOAM.com                      |
+|    \\/     M anipulation  |                                                 |
+\*---------------------------------------------------------------------------*/
+FoamFile
+{
+    version     2.0;
+    format      ascii;
+    class       dictionary;
+    object      testCsys1;
+}
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+// This dictionary only works in combination with constant/coordinateSystems
+
+mycs1
+{
+    type   indirect;
+    name   cs1;
+}
+
+mycs2
+{
+    type   indirect;
+    name   cs2;
+}
+
+mycs3
+{
+    type   indirect;
+    name   cs3;
+}
+
+mycyl
+{
+    type   indirect;
+    name   cyl;
+}
+
+
+mycy2
+{
+    coordinateSystem
+    {
+        type   indirect;
+        name   cyl;
+    }
+}
+
+mycy3
+{
+    coordinateSystem cyl;
+}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

etc/caseDicts/general/coordinateSystem/cartesianXY

@@ -15,10 +15,12 @@ FoamFile
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 type      cartesian;
+
 origin    (0 0 0);
-coordinateRotation
+
+rotation
 {
-    type  axesRotation;
+    type  axes;
     e1    $x;
     e2    $y;
 }

etc/caseDicts/general/coordinateSystem/cartesianXZ

@@ -15,10 +15,12 @@ FoamFile
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 type      cartesian;
+
 origin    (0 0 0);
-coordinateRotation
+
+rotation
 {
-    type  axesRotation;
+    type  axes;
     e1    $x;
     e3    $z;
 }

etc/caseDicts/general/coordinateSystem/cartesianYZ

@@ -15,12 +15,14 @@ FoamFile
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 type      cartesian;
+
 origin    (0 0 0);
-coordinateRotation
+
+rotation
 {
-    type  axesRotation;
+    type  axes;
     e2    $y;
-    e3    $z
+    e3    $z;
 }
 
 //************************************************************************* //

etc/caseDicts/general/coordinateSystem/cylindrical

@@ -14,8 +14,9 @@ FoamFile
 }
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
-type      cartesian;
-coordinateRotation
+type      cylindrical;
+
+rotation
 {
     type  cylindrical;
     e3    $axis;

etc/controlDict

@@ -208,7 +208,6 @@ DebugSwitches
     Ergun               0;
     Euler               0;
     EulerImplicit       0;
-    EulerRotation       0;
     extendedCellToFaceStencil 0;
     FDIC                0;
     FaceCellWave        0;
@@ -239,7 +238,6 @@ DebugSwitches
     IFstream            0;
     IOMap<dictionary>   0;
     IOPtrList<MRFZone>  0;
-    IOPtrList<coordinateSystem> 0;
     IOPtrList<injector> 0;
     IOPtrList<porousZone>   0;
     IOobject            0;
@@ -336,7 +334,6 @@ DebugSwitches
     SLTS                0;
     SRFModel            0;
     SRFVelocity         0;
-    STARCDRotation      0;
     Schaeffer           0;
     SchillerNaumann     0;
     SinclairJackson     0;
@@ -456,9 +453,7 @@ DebugSwitches
     constantAbsorptionEmission  0;
     constantAlphaContactAngle   0;
     constantScatter     0;
-    coordinateRotation  0;
     coordinateSystem    0;
-    coordinateSystems   0;
     corrected           0;
     coupled             0;
     cubeRootVol         0;
@@ -478,9 +473,9 @@ DebugSwitches
     diagonal            0;
     dictionary          0;
     dimensionSet        1;
-    mappedBase    0;
-    mappedPatch   0;
-    mappedVelocityFlux 0;
+    mappedBase          0;
+    mappedPatch         0;
+    mappedVelocityFlux  0;
     directionMixed      0;
     directional         0;
     disallowGenericFvPatchField 0;
@@ -745,7 +740,6 @@ DebugSwitches
     outletInlet         0;
     outletStabilised    0;
     pair                0;
-    parabolicCylindrical 0;
     parcel              0;
     partialSlip         0;
     passiveParticle     0;
@@ -1101,5 +1095,4 @@ DimensionSets
 }
 
 
-
 // ************************************************************************* //

src/OpenFOAM/primitives/Tensor/Tensor.H

@@ -242,11 +242,6 @@ public:
         //- Inner-product of this with another Tensor.
         inline Tensor<Cmpt> inner(const Tensor<Cmpt>& t2) const;
 
-        //- Inner-product of this with transpose of another Tensor.
-        //  Primarily useful for coordinate transformations
-        //  (where transpose is the same as the inverse).
-        inline Tensor<Cmpt> innerT(const Tensor<Cmpt>& t2) const;
-
         //- Schur-product of this with another Tensor.
         inline Tensor<Cmpt> schur(const Tensor<Cmpt>& t2) const;
 

src/OpenFOAM/primitives/Tensor/TensorI.H

@@ -504,29 +504,6 @@ Foam::Tensor<Cmpt>::inner(const Tensor<Cmpt>& t2) const
 }
 
 
-template<class Cmpt>
-inline Foam::Tensor<Cmpt>
-Foam::Tensor<Cmpt>::innerT(const Tensor<Cmpt>& t2) const
-{
-    const Tensor<Cmpt>& t1 = *this;
-
-    return Tensor<Cmpt>
-    (
-        t1.xx()*t2.xx() + t1.xy()*t2.xy() + t1.xz()*t2.xz(),
-        t1.xx()*t2.yx() + t1.xy()*t2.yy() + t1.xz()*t2.yz(),
-        t1.xx()*t2.zx() + t1.xy()*t2.zy() + t1.xz()*t2.zz(),
-
-        t1.yx()*t2.xx() + t1.yy()*t2.xy() + t1.yz()*t2.xz(),
-        t1.yx()*t2.yx() + t1.yy()*t2.yy() + t1.yz()*t2.yz(),
-        t1.yx()*t2.zx() + t1.yy()*t2.zy() + t1.yz()*t2.zz(),
-
-        t1.zx()*t2.xx() + t1.zy()*t2.xy() + t1.zz()*t2.xz(),
-        t1.zx()*t2.yx() + t1.zy()*t2.yy() + t1.zz()*t2.yz(),
-        t1.zx()*t2.zx() + t1.zy()*t2.zy() + t1.zz()*t2.zz()
-    );
-}
-
-
 template<class Cmpt>
 inline Foam::Tensor<Cmpt>
 Foam::Tensor<Cmpt>::schur(const Tensor<Cmpt>& t2) const

src/OpenFOAM/primitives/Tensor2D/Tensor2D.H

@@ -156,11 +156,6 @@ public:
         //- Inner-product of this with another Tensor2D.
         inline Tensor2D<Cmpt> inner(const Tensor2D<Cmpt>& t2) const;
 
-        //- Inner-product of this with transpose of another Tensor2D.
-        //  Primarily useful for coordinate transformations
-        //  (where transpose is the same as the inverse).
-        inline Tensor2D<Cmpt> innerT(const Tensor2D<Cmpt>& t2) const;
-
         //- Schur-product of this with another Tensor2D.
         inline Tensor2D<Cmpt> schur(const Tensor2D<Cmpt>& t2) const;
 

src/OpenFOAM/primitives/Tensor2D/Tensor2DI.H

@@ -202,23 +202,6 @@ Foam::Tensor2D<Cmpt>::inner(const Tensor2D<Cmpt>& t2) const
 }
 
 
-template<class Cmpt>
-inline Foam::Tensor2D<Cmpt>
-Foam::Tensor2D<Cmpt>::innerT(const Tensor2D<Cmpt>& t2) const
-{
-    const Tensor2D<Cmpt>& t1 = *this;
-
-    return Tensor2D<Cmpt>
-    (
-        t1.xx()*t2.xx() + t1.xy()*t2.xy(),
-        t1.xx()*t2.yx() + t1.xy()*t2.yy(),
-
-        t1.yx()*t2.xx() + t1.yy()*t2.xy(),
-        t1.yx()*t2.yx() + t1.yy()*t2.yy()
-    );
-}
-
-
 template<class Cmpt>
 inline Foam::Tensor2D<Cmpt>
 Foam::Tensor2D<Cmpt>::schur(const Tensor2D<Cmpt>& t2) const

src/atmosphericModels/derivedFvPatchFields/nutkAtmRoughWallFunction/nutkAtmRoughWallFunctionFvPatchScalarField.H

@@ -43,7 +43,7 @@ Description
         U_f | frictional velocity
         K   | Von Karman's constant
         z_0 | surface roughness length
-        z   | vertical co-ordinate
+        z   | vertical coordinate
     \endvartable
 
 Usage

src/dynamicMesh/meshCut/directions/directions.C

@@ -276,7 +276,7 @@ Foam::directions::directions
     List<vectorField>(wordList(dict.lookup("directions")).size())
 {
     const wordList wantedDirs(dict.lookup("directions"));
-    const word coordSystem(dict.lookup("coordinateSystem"));
+    const word coordSystem(dict.get<word>("coordinateSystem"));
 
     bool wantNormal = false;
     bool wantTan1 = false;

src/dynamicMesh/motionSolvers/displacement/points0/points0MotionSolver.C

@@ -230,8 +230,8 @@ void Foam::points0MotionSolver::updateMesh(const mapPolyMesh& mpm)
         else
         {
             FatalErrorInFunction
-                << "Cannot determine co-ordinates of introduced vertices."
-                << " New vertex " << pointi << " at co-ordinate "
+                << "Cannot determine coordinates of introduced vertices."
+                << " New vertex " << pointi << " at coordinate "
                 << points[pointi] << exit(FatalError);
         }
     }

src/engine/enginePiston/enginePiston.C

@@ -30,7 +30,6 @@ License
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-// Construct from components
 Foam::enginePiston::enginePiston
 (
     const polyMesh& mesh,
@@ -43,13 +42,12 @@ Foam::enginePiston::enginePiston
     mesh_(mesh),
     engineDB_(refCast<const engineTime>(mesh.time())),
     patchID_(pistonPatchName, mesh.boundaryMesh()),
-    csPtr_(pistonCS),
+    csysPtr_(pistonCS),
     minLayer_(minLayer),
     maxLayer_(maxLayer)
 {}
 
 
-// Construct from dictionary
 Foam::enginePiston::enginePiston
 (
     const polyMesh& mesh,
@@ -59,22 +57,15 @@ Foam::enginePiston::enginePiston
     mesh_(mesh),
     engineDB_(refCast<const engineTime>(mesh_.time())),
     patchID_(dict.lookup("patch"), mesh.boundaryMesh()),
-    csPtr_
+    csysPtr_
     (
-        coordinateSystem::New
-        (
-            mesh_,
-            dict.subDict("coordinateSystem")
-        )
+        coordinateSystem::New(mesh_, dict, coordinateSystem::typeName_())
     ),
-    minLayer_(readScalar(dict.lookup("minLayer"))),
-    maxLayer_(readScalar(dict.lookup("maxLayer")))
+    minLayer_(dict.get<scalar>("minLayer")),
+    maxLayer_(dict.get<scalar>("maxLayer"))
 {}
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 void Foam::enginePiston::writeDict(Ostream& os) const

src/engine/enginePiston/enginePiston.H

@@ -65,7 +65,7 @@ class enginePiston
         polyPatchID patchID_;
 
         //- Coordinate system
-        autoPtr<coordinateSystem> csPtr_;
+        autoPtr<coordinateSystem> csysPtr_;
 
 
         // Piston layering data
@@ -112,7 +112,8 @@ public:
         );
 
 
-    // Destructor - default
+    //- Destructor
+    ~enginePiston() = default;
 
 
     // Member Functions
@@ -120,7 +121,7 @@ public:
         //- Return coordinate system
         const coordinateSystem& cs() const
         {
-            return *csPtr_;
+            return *csysPtr_;
         }
 
         //- Return ID of piston patch

src/engine/engineValve/engineValve.C

@@ -63,7 +63,6 @@ Foam::scalar Foam::engineValve::adjustCrankAngle(const scalar theta) const
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-// Construct from components
 Foam::engineValve::engineValve
 (
     const word& name,
@@ -89,7 +88,7 @@ Foam::engineValve::engineValve
     name_(name),
     mesh_(mesh),
     engineDB_(refCast<const engineTime>(mesh.time())),
-    csPtr_(valveCS),
+    csysPtr_(valveCS.clone()),
     bottomPatch_(bottomPatchName, mesh.boundaryMesh()),
     poppetPatch_(poppetPatchName, mesh.boundaryMesh()),
     stemPatch_(stemPatchName, mesh.boundaryMesh()),
@@ -110,7 +109,6 @@ Foam::engineValve::engineValve
 {}
 
 
-// Construct from dictionary
 Foam::engineValve::engineValve
 (
     const word& name,
@@ -121,13 +119,9 @@ Foam::engineValve::engineValve
     name_(name),
     mesh_(mesh),
     engineDB_(refCast<const engineTime>(mesh_.time())),
-    csPtr_
+    csysPtr_
     (
-        coordinateSystem::New
-        (
-            mesh_,
-            dict.subDict("coordinateSystem")
-        )
+        coordinateSystem::New(mesh_, dict, coordinateSystem::typeName_())
     ),
     bottomPatch_(dict.lookup("bottomPatch"), mesh.boundaryMesh()),
     poppetPatch_(dict.lookup("poppetPatch"), mesh.boundaryMesh()),
@@ -156,18 +150,15 @@ Foam::engineValve::engineValve
     liftProfile_("theta", "lift", name_, dict.lookup("liftProfile")),
     liftProfileStart_(min(liftProfile_.x())),
     liftProfileEnd_(max(liftProfile_.x())),
-    minLift_(readScalar(dict.lookup("minLift"))),
-    minTopLayer_(readScalar(dict.lookup("minTopLayer"))),
-    maxTopLayer_(readScalar(dict.lookup("maxTopLayer"))),
-    minBottomLayer_(readScalar(dict.lookup("minBottomLayer"))),
-    maxBottomLayer_(readScalar(dict.lookup("maxBottomLayer"))),
-    diameter_(readScalar(dict.lookup("diameter")))
+    minLift_(dict.get<scalar>("minLift")),
+    minTopLayer_(dict.get<scalar>("minTopLayer")),
+    maxTopLayer_(dict.get<scalar>("maxTopLayer")),
+    minBottomLayer_(dict.get<scalar>("minBottomLayer")),
+    maxBottomLayer_(dict.get<scalar>("maxBottomLayer")),
+    diameter_(dict.get<scalar>("diameter"))
 {}
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 Foam::scalar Foam::engineValve::lift(const scalar theta) const
@@ -238,7 +229,7 @@ void Foam::engineValve::writeDict(Ostream& os) const
 {
     os  << nl << name() << nl << token::BEGIN_BLOCK;
 
-    cs().writeDict(os);
+    cs().writeEntry(coordinateSystem::typeName_(), os);
 
     os  << "bottomPatch " << bottomPatch_.name() << token::END_STATEMENT << nl
         << "poppetPatch " << poppetPatch_.name() << token::END_STATEMENT << nl

src/engine/engineValve/engineValve.H

@@ -45,7 +45,7 @@ SourceFiles
 namespace Foam
 {
 
-// Forward declaration of classes
+// Forward declarations
 class polyMesh;
 class engineTime;
 
@@ -67,7 +67,7 @@ class engineValve
         const engineTime& engineDB_;
 
         //- Coordinate system
-        autoPtr<coordinateSystem> csPtr_;
+        autoPtr<coordinateSystem> csysPtr_;
 
 
         // Patch and zone names
@@ -145,9 +145,6 @@ class engineValve
 
 public:
 
-    // Static data members
-
-
     // Constructors
 
         //- Construct from components
@@ -171,7 +168,6 @@ public:
             const scalar minBottomLayer,
             const scalar maxBottomLayer,
             const scalar diameter
-
         );
 
         //- Construct from dictionary
@@ -183,7 +179,8 @@ public:
         );
 
 
-    // Destructor - default
+    //- Destructor
+    ~engineValve() = default;
 
 
     // Member Functions
@@ -197,7 +194,7 @@ public:
         //- Return coordinate system
         const coordinateSystem& cs() const
         {
-            return *csPtr_;
+            return *csysPtr_;
         }
 
         //- Return lift profile
@@ -308,7 +305,7 @@ public:
 
 
         //- Write dictionary
-        void writeDict(Ostream&) const;
+        void writeDict(Ostream& os) const;
 };
 
 

src/finiteArea/faMesh/faMeshDemandDrivenData.C

@@ -34,7 +34,7 @@ License
 #include "processorFaPatch.H"
 #include "wedgeFaPatch.H"
 #include "PstreamCombineReduceOps.H"
-#include "coordinateSystem.H"
+#include "cartesianCS.H"
 #include "scalarMatrices.H"
 #include "processorFaPatchFields.H"
 #include "emptyFaPatchFields.H"
@@ -1271,7 +1271,7 @@ void Foam::faMesh::calcPointAreaNormalsByQuadricsFit() const
             curPoints = pointSet.toc();
         }
 
-        vectorField allPoints(curPoints.size());
+        pointField allPoints(curPoints.size());
         scalarField W(curPoints.size(), 1.0);
         for (label i=0; i<curPoints.size(); ++i)
         {
@@ -1280,17 +1280,16 @@ void Foam::faMesh::calcPointAreaNormalsByQuadricsFit() const
         }
 
         // Transform points
-        const vector& origin = points[curPoint];
-        const vector axis = normalised(result[curPoint]);
-        vector dir(allPoints[0] - points[curPoint]);
-        dir -= axis*(axis&dir);
-        dir.normalise();
+        coordSystem::cartesian cs
+        (
+            points[curPoint],   // origin
+            result[curPoint],   // axis [e3] (normalized by constructor)
+            allPoints[0] - points[curPoint] // direction [e1]
+        );
 
-        coordinateSystem cs("cs", origin, axis, dir);
-
-        forAll(allPoints, pI)
+        for (point& p : allPoints)
         {
-            allPoints[pI] = cs.localPosition(allPoints[pI]);
+            p = cs.localPosition(p);
         }
 
         scalarRectangularMatrix M

src/finiteVolume/cfdTools/general/porosityModel/DarcyForchheimer/DarcyForchheimer.C

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2012-2016 OpenFOAM Foundation
-     \\/     M anipulation  |
+     \\/     M anipulation  | Copyright (C) 2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -27,6 +27,7 @@ License
 #include "DarcyForchheimer.H"
 #include "geometricOneField.H"
 #include "fvMatrices.H"
+#include "pointIndList.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
@@ -67,69 +68,50 @@ Foam::porosityModels::DarcyForchheimer::DarcyForchheimer
 }
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::porosityModels::DarcyForchheimer::~DarcyForchheimer()
-{}
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 void Foam::porosityModels::DarcyForchheimer::calcTransformModelData()
 {
-    if (coordSys_.R().uniform())
+    // The Darcy coefficient as a tensor
+    tensor darcyCoeff(Zero);
+    darcyCoeff.xx() = dXYZ_.value().x();
+    darcyCoeff.yy() = dXYZ_.value().y();
+    darcyCoeff.zz() = dXYZ_.value().z();
+
+    // The Forchheimer coefficient as a tensor
+    // - the leading 0.5 is from 1/2*rho
+    tensor forchCoeff(Zero);
+    forchCoeff.xx() = 0.5*fXYZ_.value().x();
+    forchCoeff.yy() = 0.5*fXYZ_.value().y();
+    forchCoeff.zz() = 0.5*fXYZ_.value().z();
+
+    if (csys().uniform())
     {
-        forAll(cellZoneIDs_, zoneI)
+        forAll(cellZoneIDs_, zonei)
         {
-            D_[zoneI].setSize(1);
-            F_[zoneI].setSize(1);
+            D_[zonei].resize(1);
+            F_[zonei].resize(1);
 
-            D_[zoneI][0] = Zero;
-            D_[zoneI][0].xx() = dXYZ_.value().x();
-            D_[zoneI][0].yy() = dXYZ_.value().y();
-            D_[zoneI][0].zz() = dXYZ_.value().z();
-
-            D_[zoneI][0] = coordSys_.R().transformTensor(D_[zoneI][0]);
-
-            // leading 0.5 is from 1/2*rho
-            F_[zoneI][0] = Zero;
-            F_[zoneI][0].xx() = 0.5*fXYZ_.value().x();
-            F_[zoneI][0].yy() = 0.5*fXYZ_.value().y();
-            F_[zoneI][0].zz() = 0.5*fXYZ_.value().z();
-
-            F_[zoneI][0] = coordSys_.R().transformTensor(F_[zoneI][0]);
+            D_[zonei] = csys().transform(darcyCoeff);
+            F_[zonei] = csys().transform(forchCoeff);
         }
     }
     else
     {
-        forAll(cellZoneIDs_, zoneI)
+        forAll(cellZoneIDs_, zonei)
         {
-            const labelList& cells = mesh_.cellZones()[cellZoneIDs_[zoneI]];
+            const pointUIndList cc
+            (
+                mesh_.cellCentres(),
+                mesh_.cellZones()[cellZoneIDs_[zonei]]
+            );
 
-            D_[zoneI].setSize(cells.size());
-            F_[zoneI].setSize(cells.size());
-
-            forAll(cells, i)
-            {
-                D_[zoneI][i] = Zero;
-                D_[zoneI][i].xx() = dXYZ_.value().x();
-                D_[zoneI][i].yy() = dXYZ_.value().y();
-                D_[zoneI][i].zz() = dXYZ_.value().z();
-
-                // leading 0.5 is from 1/2*rho
-                F_[zoneI][i] = Zero;
-                F_[zoneI][i].xx() = 0.5*fXYZ_.value().x();
-                F_[zoneI][i].yy() = 0.5*fXYZ_.value().y();
-                F_[zoneI][i].zz() = 0.5*fXYZ_.value().z();
-            }
-
-            const coordinateRotation& R = coordSys_.R(mesh_, cells);
-
-            D_[zoneI] = R.transformTensor(D_[zoneI], cells);
-            F_[zoneI] = R.transformTensor(F_[zoneI], cells);
+            D_[zonei] = csys().transform(cc, darcyCoeff);
+            F_[zonei] = csys().transform(cc, forchCoeff);
         }
     }
 
+
     if (debug && mesh_.time().writeTime())
     {
         volTensorField Dout
@@ -159,8 +141,22 @@ void Foam::porosityModels::DarcyForchheimer::calcTransformModelData()
             dimensionedTensor(fXYZ_.dimensions(), Zero)
         );
 
-        UIndirectList<tensor>(Dout, mesh_.cellZones()[cellZoneIDs_[0]]) = D_[0];
-        UIndirectList<tensor>(Fout, mesh_.cellZones()[cellZoneIDs_[0]]) = F_[0];
+
+        forAll(cellZoneIDs_, zonei)
+        {
+            const labelList& cells = mesh_.cellZones()[cellZoneIDs_[zonei]];
+
+            if (csys().uniform())
+            {
+                UIndirectList<tensor>(Dout, cells) = D_[zonei].first();
+                UIndirectList<tensor>(Fout, cells) = F_[zonei].first();
+            }
+            else
+            {
+                UIndirectList<tensor>(Dout, cells) = D_[zonei];
+                UIndirectList<tensor>(Fout, cells) = F_[zonei];
+            }
+        }
 
         Dout.write();
         Fout.write();
@@ -176,7 +172,7 @@ void Foam::porosityModels::DarcyForchheimer::calcForce
     vectorField& force
 ) const
 {
-    scalarField Udiag(U.size(), 0.0);
+    scalarField Udiag(U.size(), Zero);
     vectorField Usource(U.size(), Zero);
     const scalarField& V = mesh_.V();
 
@@ -202,19 +198,17 @@ void Foam::porosityModels::DarcyForchheimer::correct
 
     if (UEqn.dimensions() == dimForce)
     {
-        const volScalarField& rho = mesh_.lookupObject<volScalarField>(rhoName);
+        const auto& rho = mesh_.lookupObject<volScalarField>(rhoName);
 
         if (mesh_.foundObject<volScalarField>(muName))
         {
-            const volScalarField& mu =
-                mesh_.lookupObject<volScalarField>(muName);
+            const auto& mu = mesh_.lookupObject<volScalarField>(muName);
 
             apply(Udiag, Usource, V, rho, mu, U);
         }
         else
         {
-            const volScalarField& nu =
-                mesh_.lookupObject<volScalarField>(nuName);
+            const auto& nu = mesh_.lookupObject<volScalarField>(nuName);
 
             apply(Udiag, Usource, V, rho, rho*nu, U);
         }
@@ -223,17 +217,14 @@ void Foam::porosityModels::DarcyForchheimer::correct
     {
         if (mesh_.foundObject<volScalarField>(nuName))
         {
-            const volScalarField& nu =
-                mesh_.lookupObject<volScalarField>(nuName);
+            const auto& nu = mesh_.lookupObject<volScalarField>(nuName);
 
             apply(Udiag, Usource, V, geometricOneField(), nu, U);
         }
         else
         {
-            const volScalarField& rho =
-                mesh_.lookupObject<volScalarField>(rhoName);
-            const volScalarField& mu =
-                mesh_.lookupObject<volScalarField>(muName);
+            const auto& rho = mesh_.lookupObject<volScalarField>(rhoName);
+            const auto& mu = mesh_.lookupObject<volScalarField>(muName);
 
             apply(Udiag, Usource, V, geometricOneField(), mu/rho, U);
         }
@@ -271,8 +262,8 @@ void Foam::porosityModels::DarcyForchheimer::correct
 
     if (UEqn.dimensions() == dimForce)
     {
-        const volScalarField& rho = mesh_.lookupObject<volScalarField>(rhoName);
-        const volScalarField& mu = mesh_.lookupObject<volScalarField>(muName);
+        const auto& rho = mesh_.lookupObject<volScalarField>(rhoName);
+        const auto& mu = mesh_.lookupObject<volScalarField>(muName);
 
         apply(AU, rho, mu, U);
     }
@@ -280,17 +271,14 @@ void Foam::porosityModels::DarcyForchheimer::correct
     {
         if (mesh_.foundObject<volScalarField>(nuName))
         {
-            const volScalarField& nu =
-                mesh_.lookupObject<volScalarField>(nuName);
+            const auto& nu = mesh_.lookupObject<volScalarField>(nuName);
 
             apply(AU, geometricOneField(), nu, U);
         }
         else
         {
-            const volScalarField& rho =
-                mesh_.lookupObject<volScalarField>(rhoName);
-            const volScalarField& mu =
-                mesh_.lookupObject<volScalarField>(muName);
+            const auto& rho = mesh_.lookupObject<volScalarField>(rhoName);
+            const auto& mu = mesh_.lookupObject<volScalarField>(muName);
 
             apply(AU, geometricOneField(), mu/rho, U);
         }

src/finiteVolume/cfdTools/general/porosityModel/DarcyForchheimer/DarcyForchheimer.H

@@ -41,7 +41,7 @@ Description
     to specify a multiplier (of the max component).
 
     The orientation of the porous region is defined with the same notation as
-    a co-ordinate system, but only a Cartesian co-ordinate system is valid.
+    a coordinate system, but only a Cartesian coordinate system is valid.
 
 SourceFiles
     DarcyForchheimer.C
@@ -141,7 +141,7 @@ public:
     );
 
     //- Destructor
-    virtual ~DarcyForchheimer();
+    virtual ~DarcyForchheimer() = default;
 
 
     // Member Functions

src/finiteVolume/cfdTools/general/porosityModel/fixedCoeff/fixedCoeff.C

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2012-2016 OpenFOAM Foundation
-     \\/     M anipulation  |
+     \\/     M anipulation  | Copyright (C) 2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -26,6 +26,7 @@ License
 #include "addToRunTimeSelectionTable.H"
 #include "fixedCoeff.H"
 #include "fvMatrices.H"
+#include "pointIndList.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
@@ -78,7 +79,6 @@ void Foam::porosityModels::fixedCoeff::apply
     const scalar rho
 ) const
 {
-
     forAll(cellZoneIDs_, zoneI)
     {
         const tensorField& alphaZones = alpha_[zoneI];
@@ -123,62 +123,45 @@ Foam::porosityModels::fixedCoeff::fixedCoeff
 }
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::porosityModels::fixedCoeff::~fixedCoeff()
-{}
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 void Foam::porosityModels::fixedCoeff::calcTransformModelData()
 {
-    if (coordSys_.R().uniform())
+    // The alpha coefficient as a tensor
+    tensor alphaCoeff(Zero);
+    alphaCoeff.xx() = alphaXYZ_.value().x();
+    alphaCoeff.yy() = alphaXYZ_.value().y();
+    alphaCoeff.zz() = alphaXYZ_.value().z();
+
+    // The beta coefficient as a tensor
+    tensor betaCoeff(Zero);
+    betaCoeff.xx() = betaXYZ_.value().x();
+    betaCoeff.yy() = betaXYZ_.value().y();
+    betaCoeff.zz() = betaXYZ_.value().z();
+
+    if (csys().uniform())
     {
-        forAll(cellZoneIDs_, zoneI)
+        forAll(cellZoneIDs_, zonei)
         {
-            alpha_[zoneI].setSize(1);
-            beta_[zoneI].setSize(1);
+            alpha_[zonei].resize(1);
+            beta_[zonei].resize(1);
 
-            alpha_[zoneI][0] = Zero;
-            alpha_[zoneI][0].xx() = alphaXYZ_.value().x();
-            alpha_[zoneI][0].yy() = alphaXYZ_.value().y();
-            alpha_[zoneI][0].zz() = alphaXYZ_.value().z();
-            alpha_[zoneI][0] = coordSys_.R().transformTensor(alpha_[zoneI][0]);
-
-            beta_[zoneI][0] = Zero;
-            beta_[zoneI][0].xx() = betaXYZ_.value().x();
-            beta_[zoneI][0].yy() = betaXYZ_.value().y();
-            beta_[zoneI][0].zz() = betaXYZ_.value().z();
-            beta_[zoneI][0] = coordSys_.R().transformTensor(beta_[zoneI][0]);
+            alpha_[zonei] = csys().transform(alphaCoeff);
+            beta_[zonei] = csys().transform(betaCoeff);
         }
     }
     else
     {
-        forAll(cellZoneIDs_, zoneI)
+        forAll(cellZoneIDs_, zonei)
         {
-            const labelList& cells = mesh_.cellZones()[cellZoneIDs_[zoneI]];
+            const pointUIndList cc
+            (
+                mesh_.cellCentres(),
+                mesh_.cellZones()[cellZoneIDs_[zonei]]
+            );
 
-            alpha_[zoneI].setSize(cells.size());
-            beta_[zoneI].setSize(cells.size());
-
-            forAll(cells, i)
-            {
-                alpha_[zoneI][i] = Zero;
-                alpha_[zoneI][i].xx() = alphaXYZ_.value().x();
-                alpha_[zoneI][i].yy() = alphaXYZ_.value().y();
-                alpha_[zoneI][i].zz() = alphaXYZ_.value().z();
-
-                beta_[zoneI][i] = Zero;
-                beta_[zoneI][i].xx() = betaXYZ_.value().x();
-                beta_[zoneI][i].yy() = betaXYZ_.value().y();
-                beta_[zoneI][i].zz() = betaXYZ_.value().z();
-            }
-
-            const coordinateRotation& R = coordSys_.R(mesh_, cells);
-
-            alpha_[zoneI] = R.transformTensor(alpha_[zoneI], cells);
-            beta_[zoneI] = R.transformTensor(beta_[zoneI], cells);
+            alpha_[zonei] = csys().transform(cc, alphaCoeff);
+            beta_[zonei] = csys().transform(cc, betaCoeff);
         }
     }
 }
@@ -195,7 +178,7 @@ void Foam::porosityModels::fixedCoeff::calcForce
     scalarField Udiag(U.size(), 0.0);
     vectorField Usource(U.size(), Zero);
     const scalarField& V = mesh_.V();
-    scalar rhoRef = readScalar(coeffs_.lookup("rhoRef"));
+    const scalar rhoRef = coeffs_.get<scalar>("rhoRef");
 
     apply(Udiag, Usource, V, U, rhoRef);
 

src/finiteVolume/cfdTools/general/porosityModel/fixedCoeff/fixedCoeff.H

@@ -118,7 +118,7 @@ public:
     );
 
     //- Destructor
-    virtual ~fixedCoeff();
+    virtual ~fixedCoeff() = default;
 
 
     // Member Functions

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/IOporosityModelList.C

@@ -48,15 +48,15 @@ Foam::IOobject Foam::IOporosityModelList::createIOobject
         Info<< "Creating porosity model list from " << io.name() << nl << endl;
 
         io.readOpt() = IOobject::MUST_READ_IF_MODIFIED;
-        return io;
     }
     else
     {
         Info<< "No porosity models present" << nl << endl;
 
         io.readOpt() = IOobject::NO_READ;
-        return io;
     }
+
+    return io;
 }
 
 
@@ -79,10 +79,8 @@ bool Foam::IOporosityModelList::read()
         porosityModelList::read(*this);
         return true;
     }
-    else
-    {
-        return false;
-    }
+
+    return false;
 }
 
 

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/IOporosityModelList.H

@@ -71,12 +71,11 @@ public:
     // Constructors
 
         //- Construct from mesh
-        IOporosityModelList(const fvMesh& mesh);
+        explicit IOporosityModelList(const fvMesh& mesh);
 
 
         //- Destructor
-        virtual ~IOporosityModelList()
-        {}
+        virtual ~IOporosityModelList() = default;
 
 
     // Member Functions

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/porosityModel.C

@@ -61,17 +61,6 @@ void Foam::porosityModel::adjustNegativeResistance(dimensionedVector& resist)
 }
 
 
-Foam::label Foam::porosityModel::fieldIndex(const label i) const
-{
-    label index = 0;
-    if (!coordSys_.R().uniform())
-    {
-        index = i;
-    }
-    return index;
-}
-
-
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
 Foam::porosityModel::porosityModel
@@ -101,7 +90,10 @@ Foam::porosityModel::porosityModel
     active_(true),
     zoneName_(cellZoneName),
     cellZoneIDs_(),
-    coordSys_(*(coordinateSystem::New(mesh, coeffs_)))
+    csysPtr_
+    (
+        coordinateSystem::New(mesh, coeffs_, coordinateSystem::typeName_())
+    )
 {
     if (zoneName_ == word::null)
     {
@@ -123,45 +115,36 @@ Foam::porosityModel::porosityModel
             << exit(FatalError);
     }
 
-    Info<< incrIndent << indent << coordSys_ << decrIndent << endl;
+    Info<< incrIndent << indent << csys() << decrIndent << endl;
 
     const pointField& points = mesh_.points();
     const cellList& cells = mesh_.cells();
     const faceList& faces = mesh_.faces();
-    forAll(cellZoneIDs_, zoneI)
-    {
-        const cellZone& cZone = mesh_.cellZones()[cellZoneIDs_[zoneI]];
-        point bbMin = point::max;
-        point bbMax = point::min;
 
-        forAll(cZone, i)
+    for (const label zonei : cellZoneIDs_)
+    {
+        const cellZone& cZone = mesh_.cellZones()[zonei];
+
+        boundBox bb;
+
+        for (const label celli : cZone)
         {
-            const label cellI = cZone[i];
-            const cell& c = cells[cellI];
+            const cell& c = cells[celli];
             const pointField cellPoints(c.points(faces, points));
 
-            forAll(cellPoints, pointI)
+            for (const point& pt : cellPoints)
             {
-                const point pt = coordSys_.localPosition(cellPoints[pointI]);
-                bbMin = min(bbMin, pt);
-                bbMax = max(bbMax, pt);
+                bb.add(csys().localPosition(pt));
             }
         }
 
-        reduce(bbMin, minOp<point>());
-        reduce(bbMax, maxOp<point>());
+        bb.reduce();
 
-        Info<< "    local bounds: " << (bbMax - bbMin) << nl << endl;
+        Info<< "    local bounds: " << bb.span() << nl << endl;
     }
 }
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::porosityModel::~porosityModel()
-{}
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 void Foam::porosityModel::transformModelData()

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/porosityModel.H

@@ -91,13 +91,12 @@ protected:
         //- Cell zone IDs
         labelList cellZoneIDs_;
 
-        //- Local co-ordinate system
-        coordinateSystem coordSys_;
+        //- Local coordinate system
+        autoPtr<coordinateSystem> csysPtr_;
 
 
     // Protected Member Functions
 
-
         //- Transform the model data wrt mesh changes
         virtual void calcTransformModelData() = 0;
 
@@ -128,8 +127,12 @@ protected:
             volTensorField& AU
         ) const = 0;
 
+
+        //- Local coordinate system
+        inline const coordinateSystem& csys() const;
+
         //- Return label index
-        label fieldIndex(const label index) const;
+        inline label fieldIndex(const label index) const;
 
 
 public:
@@ -209,7 +212,7 @@ public:
     );
 
     //- Destructor
-    virtual ~porosityModel();
+    virtual ~porosityModel() = default;
 
 
     // Member Functions

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/porosityModelI.H

@@ -23,6 +23,22 @@ License
 
 \*---------------------------------------------------------------------------*/
 
+// * * * * * * * * * * * * Protected Member Functions  * * * * * * * * * * * //
+
+inline const Foam::coordinateSystem& Foam::porosityModel::csys() const
+{
+    return *csysPtr_;
+}
+
+
+inline Foam::label Foam::porosityModel::fieldIndex(const label i) const
+{
+    return (csysPtr_->uniform() ? 0 : i);
+}
+
+
+// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
+
 inline const Foam::word& Foam::porosityModel::name() const
 {
     return name_;

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/porosityModelList.C

@@ -38,33 +38,26 @@ Foam::porosityModelList::porosityModelList
     mesh_(mesh)
 {
     reset(dict);
-
     active(true);
 }
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::porosityModelList::~porosityModelList()
-{}
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 bool Foam::porosityModelList::active(const bool warn) const
 {
-    bool a = false;
+    bool anyOk = false;
     forAll(*this, i)
     {
-        a = a || this->operator[](i).active();
+        anyOk = anyOk || this->operator[](i).active();
     }
 
-    if (warn && this->size() && !a)
+    if (warn && this->size() && !anyOk)
     {
         Info<< "No porosity models active" << endl;
     }
 
-    return a;
+    return anyOk;
 }
 
 

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/porosityModelList.H

@@ -45,7 +45,7 @@ SourceFiles
 namespace Foam
 {
 
-// Forward declaration of friend functions and operators
+// Forward declarations
 class porosityModelList;
 Ostream& operator<<(Ostream& os, const porosityModelList& models);
 
@@ -82,13 +82,13 @@ public:
     porosityModelList(const fvMesh& mesh, const dictionary& dict);
 
     //- Destructor
-    ~porosityModelList();
+    ~porosityModelList() = default;
 
 
     // Member Functions
 
         //- Return active status
-        bool active(const bool active = false) const;
+        bool active(const bool warn = false) const;
 
         //- Reset the source list
         void reset(const dictionary& dict);

src/finiteVolume/cfdTools/general/porosityModel/porosityModel/porosityModelNew.C

@@ -35,7 +35,7 @@ Foam::autoPtr<Foam::porosityModel> Foam::porosityModel::New
     const word& cellZoneName
 )
 {
-    const word modelType(dict.lookup("type"));
+    const word modelType(dict.get<word>("type"));
 
     Info<< "Porosity region " << name << ":" << nl
         << "    selecting model: " << modelType << endl;
@@ -46,7 +46,7 @@ Foam::autoPtr<Foam::porosityModel> Foam::porosityModel::New
     {
         FatalErrorInFunction
             << "Unknown " << typeName << " type " << modelType << nl << nl
-            << "Valid " << typeName << " types are:" << nl
+            << "Valid types are:" << nl
             << meshConstructorTablePtr_->sortedToc()
             << exit(FatalError);
     }

src/finiteVolume/cfdTools/general/porosityModel/powerLaw/powerLaw.C

@@ -52,18 +52,12 @@ Foam::porosityModels::powerLaw::powerLaw
 )
 :
     porosityModel(name, modelType, mesh, dict, cellZoneName),
-    C0_(readScalar(coeffs_.lookup("C0"))),
-    C1_(readScalar(coeffs_.lookup("C1"))),
+    C0_(coeffs_.get<scalar>("C0")),
+    C1_(coeffs_.get<scalar>("C1")),
     rhoName_(coeffs_.lookupOrDefault<word>("rho", "rho"))
 {}
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::porosityModels::powerLaw::~powerLaw()
-{}
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 void Foam::porosityModels::powerLaw::calcTransformModelData()
@@ -100,7 +94,7 @@ void Foam::porosityModels::powerLaw::correct
 
     if (UEqn.dimensions() == dimForce)
     {
-        const volScalarField& rho = mesh_.lookupObject<volScalarField>
+        const auto& rho = mesh_.lookupObject<volScalarField>
         (
             IOobject::groupName(rhoName_, U.group())
         );
@@ -139,7 +133,7 @@ void Foam::porosityModels::powerLaw::correct
 
     if (UEqn.dimensions() == dimForce)
     {
-        const volScalarField& rho = mesh_.lookupObject<volScalarField>
+        const auto& rho = mesh_.lookupObject<volScalarField>
         (
             IOobject::groupName(rhoName_, U.group())
         );

src/finiteVolume/cfdTools/general/porosityModel/powerLaw/powerLaw.H

@@ -119,7 +119,7 @@ public:
     );
 
     //- Destructor
-    virtual ~powerLaw();
+    virtual ~powerLaw() = default;
 
 
     // Member Functions

src/finiteVolume/cfdTools/general/porosityModel/powerLaw/powerLawTemplates.C

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2012-2016 OpenFOAM Foundation
-     \\/     M anipulation  |
+     \\/     M anipulation  | Copyright (C) 2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -37,14 +37,12 @@ void Foam::porosityModels::powerLaw::apply
     const scalar C0 = C0_;
     const scalar C1m1b2 = (C1_ - 1.0)/2.0;
 
-    forAll(cellZoneIDs_, zoneI)
+    for (const label zonei : cellZoneIDs_)
     {
-        const labelList& cells = mesh_.cellZones()[cellZoneIDs_[zoneI]];
+        const labelList& cells = mesh_.cellZones()[zonei];
 
-        forAll(cells, i)
+        for (const label celli : cells)
         {
-            const label celli = cells[i];
-
             Udiag[celli] +=
                 V[celli]*rho[celli]*C0*pow(magSqr(U[celli]), C1m1b2);
         }
@@ -63,14 +61,12 @@ void Foam::porosityModels::powerLaw::apply
     const scalar C0 = C0_;
     const scalar C1m1b2 = (C1_ - 1.0)/2.0;
 
-    forAll(cellZoneIDs_, zoneI)
+    for (const label zonei : cellZoneIDs_)
     {
-        const labelList& cells = mesh_.cellZones()[cellZoneIDs_[zoneI]];
+        const labelList& cells = mesh_.cellZones()[zonei];
 
-        forAll(cells, i)
+        for (const label celli : cells)
         {
-            const label celli = cells[i];
-
             AU[celli] =
                 AU[celli] + I*(rho[celli]*C0*pow(magSqr(U[celli]), C1m1b2));
         }

src/finiteVolume/cfdTools/general/porosityModel/solidification/solidification.C

@@ -99,7 +99,7 @@ void Foam::porosityModels::solidification::correct
 
     if (UEqn.dimensions() == dimForce)
     {
-        const volScalarField& rho = mesh_.lookupObject<volScalarField>
+        const auto& rho = mesh_.lookupObject<volScalarField>
         (
             IOobject::groupName(rhoName_, U.group())
         );
@@ -138,7 +138,7 @@ void Foam::porosityModels::solidification::correct
 
     if (UEqn.dimensions() == dimForce)
     {
-        const volScalarField& rho = mesh_.lookupObject<volScalarField>
+        const auto& rho = mesh_.lookupObject<volScalarField>
         (
             IOobject::groupName(rhoName_, U.group())
         );

src/finiteVolume/cfdTools/general/porosityModel/solidification/solidification.H

@@ -63,14 +63,9 @@ Description
             // use the global coordinate system
             coordinateSystem
             {
-                type    cartesian;
                 origin  (0 0 0);
-                coordinateRotation
-                {
-                    type    axesRotation;
-                    e1      (1 0 0);
-                    e2      (0 1 0);
-                }
+                e1      (1 0 0);
+                e2      (0 1 0);
             }
         }
     \endverbatim

src/finiteVolume/cfdTools/general/porosityModel/solidification/solidificationTemplates.C

@@ -38,18 +38,17 @@ void Foam::porosityModels::solidification::apply
     const volVectorField& U
 ) const
 {
-    const volScalarField& T = mesh_.lookupObject<volScalarField>
+    const auto& T = mesh_.lookupObject<volScalarField>
     (
         IOobject::groupName(TName_, U.group())
     );
 
-    forAll(cellZoneIDs_, zoneI)
+    for (const label zonei : cellZoneIDs_)
     {
-        const labelList& cells = mesh_.cellZones()[cellZoneIDs_[zoneI]];
+        const labelList& cells = mesh_.cellZones()[zonei];
 
-        forAll(cells, i)
+        for (const label celli : cells)
         {
-            const label celli = cells[i];
             Udiag[celli] +=
                 V[celli]*alpha[celli]*rho[celli]*D_->value(T[celli]);
         }
@@ -66,18 +65,17 @@ void Foam::porosityModels::solidification::apply
     const volVectorField& U
 ) const
 {
-    const volScalarField& T = mesh_.lookupObject<volScalarField>
+    const auto& T = mesh_.lookupObject<volScalarField>
     (
         IOobject::groupName(TName_, U.group())
     );
 
-    forAll(cellZoneIDs_, zoneI)
+    for (const label zonei : cellZoneIDs_)
     {
-        const labelList& cells = mesh_.cellZones()[cellZoneIDs_[zoneI]];
+        const labelList& cells = mesh_.cellZones()[zonei];
 
-        forAll(cells, i)
+        for (const label celli : cells)
         {
-            const label celli = cells[i];
             AU[celli] +=
                 tensor::I*alpha[celli]*rho[celli]*D_->value(T[celli]);
         }
@@ -100,7 +98,7 @@ void Foam::porosityModels::solidification::apply
     }
     else
     {
-        const volScalarField& alpha = mesh_.lookupObject<volScalarField>
+        const auto& alpha = mesh_.lookupObject<volScalarField>
         (
             IOobject::groupName(alphaName_, U.group())
         );
@@ -124,7 +122,7 @@ void Foam::porosityModels::solidification::apply
     }
     else
     {
-        const volScalarField& alpha = mesh_.lookupObject<volScalarField>
+        const auto& alpha = mesh_.lookupObject<volScalarField>
         (
             IOobject::groupName(alphaName_, U.group())
         );

src/finiteVolume/fields/fvPatchFields/derived/cylindricalInletVelocity/cylindricalInletVelocityFvPatchVectorField.H

@@ -29,7 +29,7 @@ Group
 
 Description
     This boundary condition describes an inlet vector boundary condition in
-    cylindrical co-ordinates given a central axis, central point, rpm, axial
+    cylindrical coordinates given a central axis, central point, rpm, axial
     and radial velocity.
 
 Usage

src/finiteVolume/fields/fvPatchFields/derived/phaseHydrostaticPressure/phaseHydrostaticPressureFvPatchScalarField.H

@@ -39,7 +39,7 @@ Description
     \vartable
         p_{hyd} | hyrostatic pressure [Pa]
         p_{ref} | reference pressure [Pa]
-        x_{ref} | reference point in Cartesian co-ordinates
+        x_{ref} | reference point in Cartesian coordinates
         \rho    | density (assumed uniform)
         g       | acceleration due to gravity [m/s2]
     \endtable

src/finiteVolume/fields/fvPatchFields/derived/rotatingWallVelocity/rotatingWallVelocityFvPatchVectorField.H

@@ -33,7 +33,7 @@ Description
 Usage
     \table
         Property     | Description             | Required    | Default value
-        origin       | origin of rotation in Cartesian co-ordinates | yes|
+        origin       | origin of rotation in Cartesian coordinates | yes|
         axis         | axis of rotation        | yes         |
         omega        | angular velocty of the frame [rad/s] | yes    |
     \endtable

src/finiteVolume/fields/fvPatchFields/derived/swirlInletVelocity/swirlInletVelocityFvPatchVectorField.H

@@ -29,7 +29,7 @@ Group
 
 Description
     This boundary condition describes an inlet vector boundary condition in
-    swirl co-ordinates given a central axis, central point, axial, radial and
+    swirl coordinates given a central axis, central point, axial, radial and
     tangential velocity profiles.
 
 Usage

src/finiteVolume/fields/fvPatchFields/derived/turbulentDFSEMInlet/eddy/eddy.H

@@ -42,19 +42,18 @@ SourceFiles
 #include "point.H"
 #include "tensor.H"
 #include "Random.H"
-#include "coordinateSystem.H"
+#include "boundBox.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 namespace Foam
 {
 
-// Forward declaration of classes
+// Forward declarations
+class eddy;
 class Istream;
 class Ostream;
 
-// Forward declaration of friend functions and operators
-class eddy;
 bool operator==(const eddy& a, const eddy& b);
 bool operator!=(const eddy& a, const eddy& b);
 Istream& operator>>(Istream& is, eddy& e);
@@ -87,7 +86,7 @@ class eddy
         //- Time-averaged intensity
         vector alpha_;
 
-        //- Co-ordinate system transformation from local to global axes
+        //- Coordinate system transformation from local to global axes
         //  X-direction aligned with max stress eigenvalue
         tensor Rpg_;
 
@@ -161,7 +160,7 @@ public:
             //- Return the time-averaged intensity
             inline const vector& alpha() const;
 
-            //- Return the co-ordinate system transformation from local
+            //- Return the coordinate system transformation from local
             //  principal to global axes
             inline const tensor& Rpg() const;
 

src/finiteVolume/fields/fvPatchFields/derived/uniformDensityHydrostaticPressure/uniformDensityHydrostaticPressureFvPatchScalarField.H

@@ -39,7 +39,7 @@ Description
     \vartable
         p_{hyd} | hyrostatic pressure [Pa]
         p_{ref} | reference pressure [Pa]
-        x_{ref} | reference point in Cartesian co-ordinates
+        x_{ref} | reference point in Cartesian coordinates
         \rho    | density (assumed uniform)
         g       | acceleration due to gravity [m/s2]
     \endtable

src/finiteVolume/interpolation/interpolation/interpolationCellPoint/cellPointWeight/cellPointWeight.H

@@ -89,7 +89,7 @@ public:
     //- Debug switch
     static int debug;
 
-    //- Tolerance used in calculating barycentric co-ordinates
+    //- Tolerance used in calculating barycentric coordinates
     //  (applied to normalised values)
     static scalar tol;
 

src/finiteVolume/interpolation/interpolation/interpolationPointMVC/pointMVCWeight.H

@@ -107,7 +107,7 @@ public:
     //- Debug switch
     static int debug;
 
-    //- Tolerance used in calculating barycentric co-ordinates
+    //- Tolerance used in calculating barycentric coordinates
     //  (applied to normalised values)
     static scalar tol;
 

src/functionObjects/field/fieldCoordinateSystemTransform/fieldCoordinateSystemTransform.C

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2017 OpenFOAM Foundation
-     \\/     M anipulation  | Copyright (C) 2017 OpenCFD Ltd.
+     \\/     M anipulation  | Copyright (C) 2017-2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -56,23 +56,19 @@ fieldCoordinateSystemTransform
 :
     fvMeshFunctionObject(name, runTime, dict),
     fieldSet_(mesh_),
-    coordSys_(mesh_, dict.subDict("coordinateSystem"))
+    csysPtr_
+    (
+        coordinateSystem::New(mesh_, dict, coordinateSystem::typeName_())
+    )
 {
     read(dict);
 
     Info<< type() << " " << name << ":" << nl
         << "   Applying transformation from global Cartesian to local "
-        << coordSys_ << nl << endl;
+        << *csysPtr_ << nl << endl;
 }
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::functionObjects::fieldCoordinateSystemTransform::
-~fieldCoordinateSystemTransform()
-{}
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
 Foam::word

src/functionObjects/field/fieldCoordinateSystemTransform/fieldCoordinateSystemTransform.H

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2017 OpenFOAM Foundation
-     \\/     M anipulation  | Copyright (C) 2015 OpenCFD Ltd.
+     \\/     M anipulation  | Copyright (C) 2015-2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -29,7 +29,7 @@ Group
 
 Description
     Transforms a user-specified selection of fields from global Cartesian
-    co-ordinates to a local co-ordinate system.  The fields are run-time
+    coordinates to a local coordinate system.  The fields are run-time
     modifiable.
 
 Usage
@@ -50,11 +50,11 @@ Usage
         coordinateSystem
         {
             origin      (0.001 0 0);
-            coordinateRotation
+            rotation
             {
-                type        axesRotation;
-                e1          (1      0.15    0);
-                e3          (0      0      -1);
+                type    axes;
+                e1      (1 0.15 0);
+                e3      (0 0 -1);
             }
         }
     }
@@ -65,7 +65,7 @@ Usage
         Property     | Description             | Required    | Default value
         type         | type name: fieldCoordinateSystemTransform | yes |
         fields       | list of fields to be transformed |yes |
-        coordinateSystem | local co-ordinate system | yes    |
+        coordinateSystem | local coordinate system | yes    |
     \endtable
 
 See also
@@ -107,8 +107,8 @@ protected:
         //- Fields to transform
         volFieldSelection fieldSet_;
 
-        //- Co-ordinate system to transform to
-        coordinateSystem coordSys_;
+        //- Coordinate system to transform to
+        autoPtr<coordinateSystem> csysPtr_;
 
 
     // Protected Member Functions
@@ -143,7 +143,7 @@ public:
 
 
     //- Destructor
-    virtual ~fieldCoordinateSystemTransform();
+    virtual ~fieldCoordinateSystemTransform() = default;
 
 
     // Member Functions

src/functionObjects/field/fieldCoordinateSystemTransform/fieldCoordinateSystemTransformTemplates.C

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2017 OpenFOAM Foundation
-     \\/     M anipulation  | Copyright (C) 2016-2017 OpenCFD Ltd.
+     \\/     M anipulation  | Copyright (C) 2016-2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -41,7 +41,7 @@ void Foam::functionObjects::fieldCoordinateSystemTransform::transformField
     store
     (
         transFieldName,
-        Foam::transform(dimensionedTensor(coordSys_.R().R()), field)
+        Foam::transform(dimensionedTensor(csysPtr_->R()), field)
     );
 }
 
@@ -61,7 +61,10 @@ void Foam::functionObjects::fieldCoordinateSystemTransform::transform
             << type() << ": Field " << fieldName << " already in database"
             << endl;
 
-        transformField<VolFieldType>(lookupObject<VolFieldType>(fieldName));
+        transformField<VolFieldType>
+        (
+            lookupObject<VolFieldType>(fieldName)
+        );
     }
     else if (foundObject<SurfaceFieldType>(fieldName))
     {

src/functionObjects/field/fieldCoordinateSystemTransform/postProcessingDict

@@ -41,12 +41,8 @@ functions
         coordinateSystem
         {
             origin  (0 0 0);
-            coordinateRotation
-            {
-                type    axesRotation;
-                e1      (1  0.15  0);
-                e3      (0  0    -1);
-            }
+            e1      (1 0.15 0);
+            e3      (0 0 -1);
         }
     }
 }

src/functionObjects/field/regionSizeDistribution/regionSizeDistribution.C

@@ -350,12 +350,19 @@ bool Foam::functionObjects::regionSizeDistribution::read(const dictionary& dict)
     const word format(dict.get<word>("setFormat"));
     formatterPtr_ = writer<scalar>::New(format);
 
-    if (dict.found("coordinateSystem"))
+    if (dict.found(coordinateSystem::typeName_()))
     {
-        coordSysPtr_.reset(new coordinateSystem(obr_, dict));
+        csysPtr_.reset
+        (
+            coordinateSystem::New(obr_, dict, coordinateSystem::typeName_())
+        );
 
         Info<< "Transforming all vectorFields with coordinate system "
-            << coordSysPtr_().name() << endl;
+            << csysPtr_->name() << endl;
+    }
+    else
+    {
+        csysPtr_.clear();
     }
 
     if (isoPlanes_)
@@ -897,14 +904,14 @@ bool Foam::functionObjects::regionSizeDistribution::write()
                     volVectorField
                 >(fldName).primitiveField();
 
-                if (coordSysPtr_.valid())
+                if (csysPtr_.valid())
                 {
                     Log << "Transforming vector field " << fldName
                         << " with coordinate system "
-                        << coordSysPtr_().name()
+                        << csysPtr_->name()
                         << endl;
 
-                    fld = coordSysPtr_().localVector(fld);
+                    fld = csysPtr_->localVector(fld);
                 }
 
 

src/functionObjects/field/regionSizeDistribution/regionSizeDistribution.H

@@ -113,8 +113,8 @@ Usage
         maxDiameter  | maximum region equivalent diameter | yes |
         minDiameter  | minimum region equivalent diameter | no  | 0
         setFormat    | writing format          | yes         |
-        origin       | origin of local co-ordinate system | yes    |
-        coordinateRoation | orientation of local co-ordinate system | no
+        origin       | origin of local coordinate system | yes    |
+        coordinateRoation | orientation of local coordinate system | no
         log          | Log to standard output  | no          | yes
         isoPlanes    | switch for isoPlanes    | no          | false
         origin       | origin of the plane when isoPlanes is used | no | none
@@ -198,7 +198,7 @@ class regionSizeDistribution
         autoPtr<writer<scalar>> formatterPtr_;
 
         //- Optional coordinate system
-        autoPtr<coordinateSystem> coordSysPtr_;
+        autoPtr<coordinateSystem> csysPtr_;
 
         // Optional extra definition of bins on planes downstream to the origin
         // point and maximum diameter

src/functionObjects/forces/forces/forces.C

@@ -29,6 +29,7 @@ License
 #include "turbulentTransportModel.H"
 #include "turbulentFluidThermoModel.H"
 #include "addToRunTimeSelectionTable.H"
+#include "cartesianCS.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
@@ -37,7 +38,6 @@ namespace Foam
 namespace functionObjects
 {
     defineTypeNameAndDebug(forces, 0);
-
     addToRunTimeSelectionTable(functionObject, forces, dictionary);
 }
 }
@@ -857,7 +857,23 @@ bool Foam::functionObjects::forces::read(const dictionary& dict)
     // specified directly, from coordinate system, or implicitly (0 0 0)
     if (!dict.readIfPresent<point>("CofR", coordSys_.origin()))
     {
-        coordSys_ = coordinateSystem(obr_, dict);
+        // The 'coordinateSystem' sub-dictionary is optional,
+        // but enforce use of a cartesian system.
+
+        if (dict.found(coordinateSystem::typeName_()))
+        {
+            // New() for access to indirect (global) coordinate system
+            coordSys_ =
+                coordinateSystem::New
+                (
+                    obr_, dict, coordinateSystem::typeName_()
+                );
+        }
+        else
+        {
+            coordSys_ = coordSystem::cartesian(dict);
+        }
+
         localSystem_ = true;
     }
 

src/functionObjects/forces/forces/forces.H

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
-     \\/     M anipulation  | Copyright (C) 2015-2016 OpenCFD Ltd.
+     \\/     M anipulation  | Copyright (C) 2015-2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -32,21 +32,21 @@ Description
     skin-friction forces over a given list of patches, and the resistance
     from porous zones.
 
-    Forces and moments are calculated, with optional co-ordinate system and
+    Forces and moments are calculated, with optional coordinate system and
     writing of binned data, where force and moment contributions are collected
     into a user-defined number of bins that span the input geometries for a
     user-defined direction vector.
 
     Data is written into multiple files in the
     postProcessing/\<functionObjectName\> directory:
-    - force.dat          : forces in global Cartesian co-ordinate system
-    - moment.dat         : moments in global Cartesian co-ordinate system
-    - forceBin.dat       : force bins in global Cartesian co-ordinate system
-    - momentBin.dat      : moment bins in global Cartesian co-ordinate system
-    - localForce.dat     : forces in local co-ordinate system
-    - localMoment.dat    : moments in local co-ordinate system
-    - localForceBin.dat  : force bins in local co-ordinate system
-    - localMomentBin.dat : moment bins in local co-ordinate system
+    - force.dat          : forces in global Cartesian coordinate system
+    - moment.dat         : moments in global Cartesian coordinate system
+    - forceBin.dat       : force bins in global Cartesian coordinate system
+    - momentBin.dat      : moment bins in global Cartesian coordinate system
+    - localForce.dat     : forces in local Cartesian coordinate system
+    - localMoment.dat    : moments in local Cartesian coordinate system
+    - localForceBin.dat  : force bins in local Cartesian coordinate system
+    - localMomentBin.dat : moment bins in local Cartesian coordinate system
 
 Usage
     Example of function object specification:
@@ -107,13 +107,19 @@ Note
         CofR        (0 0 0);
     \endverbatim
     or
+    \verbatim
+        origin  (0 0 0);
+        e1      (0 1 0);
+        e3      (0 0 1);
+    \endverbatim
+    or
     \verbatim
         coordinateSystem
         {
             origin  (0 0 0);
-            coordinateRotation
+            rotation
             {
-                type    axesRotation;
+                type    axes;
                 e3      (0 0 1);
                 e1      (1 0 0);
             }
@@ -136,7 +142,7 @@ SourceFiles
 
 #include "fvMeshFunctionObject.H"
 #include "writeFile.H"
-#include "coordinateSystem.H"
+#include "cartesianCS.H"
 #include "volFieldsFwd.H"
 #include "HashSet.H"
 #include "Tuple2.H"
@@ -224,9 +230,9 @@ protected:
             scalar pRef_;
 
             //- Coordinate system used when evaluting forces/moments
-            coordinateSystem coordSys_;
+            coordSystem::cartesian coordSys_;
 
-            //- Flag to indicate whether we are using a local co-ordinate sys
+            //- Flag to indicate whether we are using a local coordinates
             bool localSystem_;
 
             //- Flag to include porosity effects

src/fvOptions/sources/derived/explicitPorositySource/explicitPorositySource.H

@@ -44,14 +44,9 @@ Usage
 
             coordinateSystem
             {
-                type    cartesian;
                 origin  (0 0 0);
-                coordinateRotation
-                {
-                    type    axesRotation;
-                    e1  (0.70710678 0.70710678 0);
-                    e2  (0 0 1);
-                }
+                e1      (0.70710678 0.70710678 0);
+                e2      (0 0 1);
             }
         }
     }

src/fvOptions/sources/derived/jouleHeatingSource/jouleHeatingSource.C

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2016-2017 OpenCFD Ltd.
+    \\  /    A nd           | Copyright (C) 2016-2018 OpenCFD Ltd.
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -53,16 +53,16 @@ const Foam::word Foam::fv::jouleHeatingSource::sigmaName(typeName + ":sigma");
 
 // * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
 
-const Foam::coordinateSystem& Foam::fv::jouleHeatingSource::coordSys() const
+const Foam::coordinateSystem& Foam::fv::jouleHeatingSource::csys() const
 {
-    if (!coordSysPtr_.valid())
+    if (!csysPtr_ || !csysPtr_.valid())
     {
         FatalErrorInFunction
-            << "Co-ordinate system invalid"
+            << "Coordinate system invalid"
             << abort(FatalError);
     }
 
-    return *coordSysPtr_;
+    return *csysPtr_;
 }
 
 
@@ -87,10 +87,18 @@ Foam::fv::jouleHeatingSource::transformSigma
         dimensionedSymmTensor(sigmaLocal.dimensions(), Zero),
         zeroGradientFvPatchField<symmTensor>::typeName
     );
-
     auto& sigma = tsigma.ref();
 
-    sigma.primitiveFieldRef() = coordSys().R().transformVector(sigmaLocal);
+    if (csys().uniform())
+    {
+        sigma.primitiveFieldRef() =
+            csys().transformPrincipal(sigmaLocal);
+    }
+    else
+    {
+        sigma.primitiveFieldRef() =
+            csys().transformPrincipal(mesh_.cellCentres(), sigmaLocal);
+    }
 
     sigma.correctBoundaryConditions();
 
@@ -125,7 +133,7 @@ Foam::fv::jouleHeatingSource::jouleHeatingSource
     anisotropicElectricalConductivity_(false),
     scalarSigmaVsTPtr_(nullptr),
     vectorSigmaVsTPtr_(nullptr),
-    coordSysPtr_(nullptr),
+    csysPtr_(nullptr),
     curTimeIndex_(-1)
 {
     // Set the field name to that of the energy field from which the temperature
@@ -223,7 +231,14 @@ bool Foam::fv::jouleHeatingSource::read(const dictionary& dict)
             Info<< "    Using vector electrical conductivity" << endl;
 
             initialiseSigma(coeffs_, vectorSigmaVsTPtr_);
-            coordSysPtr_ = coordinateSystem::New(mesh_, coeffs_);
+
+            csysPtr_ =
+                coordinateSystem::New
+                (
+                    mesh_,
+                    coeffs_,
+                    coordinateSystem::typeName_()
+                );
         }
         else
         {

src/fvOptions/sources/derived/jouleHeatingSource/jouleHeatingSource.H

@@ -91,15 +91,9 @@ Usage
 
         coordinateSystem
         {
-            type        cartesian;
-            origin      (0 0 0);
-
-            coordinateRotation
-            {
-                type        axesRotation;
-                e1          (1 0 0);
-                e3          (0 0 1);
-            }
+            origin  (0 0 0);
+            e1      (1 0 0);
+            e3      (0 0 1);
         }
 
         // Optionally specify sigma as a function of temperature
@@ -179,8 +173,8 @@ class jouleHeatingSource
         //- Electrical conductivity as a vector function of temperature
         autoPtr<Function1<vector>> vectorSigmaVsTPtr_;
 
-        //- Co-ordinate system - used for vectorial electrical conductivity
-        autoPtr<coordinateSystem> coordSysPtr_;
+        //- Coordinate system - used for vectorial electrical conductivity
+        autoPtr<coordinateSystem> csysPtr_;
 
         //- Current time index (used for updating)
         label curTimeIndex_;
@@ -194,9 +188,8 @@ class jouleHeatingSource
         //- No copy assignment
         void operator=(const jouleHeatingSource&) = delete;
 
-        //- Return the co-ordinate system for anisotropic electrical
-        //  conductivity
-        const coordinateSystem& coordSys() const;
+        //- The coordinate system for anisotropic electrical conductivity
+        const coordinateSystem& csys() const;
 
         //- Transform the anisotropic electrical conductivity into global system
         tmp<volSymmTensorField> transformSigma

src/fvOptions/sources/derived/rotorDiskSource/rotorDiskSource.C

@@ -91,7 +91,7 @@ void Foam::fv::rotorDiskSource::checkData()
                 case ifSurfaceNormal:
                 {
                     scalar UIn(coeffs_.get<scalar>("inletNormalVelocity"));
-                    inletVelocity_ = -coordSys_.R().e3()*UIn;
+                    inletVelocity_ = -coordSys_.e3()*UIn;
                     break;
                 }
                 case ifLocal:
@@ -333,17 +333,6 @@ void Foam::fv::rotorDiskSource::createCoordinateSystem()
 
             coeffs_.readEntry("refDirection", refDir);
 
-            cylindrical_.reset
-            (
-                new cylindrical
-                (
-                    mesh_,
-                    axis,
-                    origin,
-                    cells_
-                )
-            );
-
             // Set the face areas and apply correction to calculated axis
             // e.g. if cellZone is more than a single layer in thickness
             setFaceArea(axis, true);
@@ -356,17 +345,6 @@ void Foam::fv::rotorDiskSource::createCoordinateSystem()
             coeffs_.readEntry("axis", axis);
             coeffs_.readEntry("refDirection", refDir);
 
-            cylindrical_.reset
-            (
-                new cylindrical
-                (
-                    mesh_,
-                    axis,
-                    origin,
-                    cells_
-                )
-            );
-
             setFaceArea(axis, false);
 
             break;
@@ -381,7 +359,7 @@ void Foam::fv::rotorDiskSource::createCoordinateSystem()
         }
     }
 
-    coordSys_ = cylindricalCS("rotorCS", origin, axis, refDir);
+    coordSys_ = coordSystem::cylindrical(origin, axis, refDir);
 
     const scalar sumArea = gSum(area_);
     const scalar diameter = Foam::sqrt(4.0*sumArea/mathematical::pi);
@@ -389,24 +367,25 @@ void Foam::fv::rotorDiskSource::createCoordinateSystem()
         << "    - disk diameter = " << diameter << nl
         << "    - disk area     = " << sumArea << nl
         << "    - origin        = " << coordSys_.origin() << nl
-        << "    - r-axis        = " << coordSys_.R().e1() << nl
-        << "    - psi-axis      = " << coordSys_.R().e2() << nl
-        << "    - z-axis        = " << coordSys_.R().e3() << endl;
+        << "    - r-axis        = " << coordSys_.e1() << nl
+        << "    - psi-axis      = " << coordSys_.e2() << nl
+        << "    - z-axis        = " << coordSys_.e3() << endl;
 }
 
 
 void Foam::fv::rotorDiskSource::constructGeometry()
 {
-    const vectorField& C = mesh_.C();
+    const pointUIndList cc(mesh_.C(), cells_);
+
+    // Optional: for later transform(), invTransform()
+    /// Rcyl_.reset(coordSys_.R(cc).ptr());
 
     forAll(cells_, i)
     {
         if (area_[i] > ROOTVSMALL)
         {
-            const label celli = cells_[i];
-
             // Position in (planar) rotor coordinate system
-            x_[i] = coordSys_.localPosition(C[celli]);
+            x_[i] = coordSys_.localPosition(cc[i]);
 
             // Cache max radius
             rMax_ = max(rMax_, x_[i].x());
@@ -482,7 +461,6 @@ Foam::fv::rotorDiskSource::rotorDiskSource
     Rcone_(cells_.size(), I),
     area_(cells_.size(), Zero),
     coordSys_(),
-    cylindrical_(),
     rMax_(0.0),
     trim_(trimModel::New(*this, coeffs_)),
     blade_(coeffs_.subDict("blade")),

src/fvOptions/sources/derived/rotorDiskSource/rotorDiskSource.H

@@ -102,7 +102,6 @@ SourceFiles
 
 #include "cellSetOption.H"
 #include "cylindricalCS.H"
-#include "cylindrical.H"
 #include "Enum.H"
 #include "bladeModel.H"
 #include "profileModelList.H"
@@ -184,7 +183,7 @@ protected:
         flapData flap_;
 
         //- Cell centre positions in local rotor frame
-        //  (Cylindrical r, theta, z)
+        //  (Cylindrical r-theta-z)
         List<point> x_;
 
         //- Rotation tensor for flap angle
@@ -194,10 +193,10 @@ protected:
         List<scalar> area_;
 
         //- Rotor local cylindrical coordinate system (r-theta-z)
-        cylindricalCS coordSys_;
+        coordSystem::cylindrical coordSys_;
 
-        //- Rotor transformation coordinate system
-        autoPtr<cylindrical> cylindrical_;
+        //- Cached rotation tensors for cylindrical coordinates
+        autoPtr<tensorField> Rcyl_;
 
         //- Maximum radius
         scalar rMax_;
@@ -273,11 +272,11 @@ public:
             inline scalar omega() const;
 
             //- Return the cell centre positions in local rotor frame
-            // (Cylindrical r, theta, z)
+            //  (Cylindrical r-theta-z)
             inline const List<point>& x() const;
 
             //- Return the rotor coordinate system (r-theta-z)
-            inline const cylindricalCS& coordSys() const;
+            inline const coordSystem::cylindrical& coordSys() const;
 
 
         // Evaluation

src/fvOptions/sources/derived/rotorDiskSource/rotorDiskSourceI.H

@@ -27,25 +27,26 @@ License
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
-Foam::scalar Foam::fv::rotorDiskSource::rhoRef() const
+inline Foam::scalar Foam::fv::rotorDiskSource::rhoRef() const
 {
     return rhoRef_;
 }
 
 
-Foam::scalar Foam::fv::rotorDiskSource::omega() const
+inline Foam::scalar Foam::fv::rotorDiskSource::omega() const
 {
     return omega_;
 }
 
 
-const Foam::List<Foam::point>& Foam::fv::rotorDiskSource::x() const
+inline const Foam::List<Foam::point>& Foam::fv::rotorDiskSource::x() const
 {
     return x_;
 }
 
 
-const Foam::cylindricalCS& Foam::fv::rotorDiskSource::coordSys() const
+inline const Foam::coordSystem::cylindrical&
+Foam::fv::rotorDiskSource::coordSys() const
 {
     return coordSys_;
 }

src/fvOptions/sources/derived/rotorDiskSource/rotorDiskSourceTemplates.C

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
-     \\/     M anipulation  |
+     \\/     M anipulation  | Copyright (C) 2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -26,7 +26,6 @@ License
 #include "rotorDiskSource.H"
 #include "volFields.H"
 #include "unitConversion.H"
-#include "transform.H"
 
 using namespace Foam::constant;
 
@@ -51,6 +50,9 @@ void Foam::fv::rotorDiskSource::calculate
     scalar AOAmin = GREAT;
     scalar AOAmax = -GREAT;
 
+    // Cached position-dependent rotations available?
+    const bool hasCache = Rcyl_.valid();
+
     forAll(cells_, i)
     {
         if (area_[i] > ROOTVSMALL)
@@ -59,8 +61,15 @@ void Foam::fv::rotorDiskSource::calculate
 
             const scalar radius = x_[i].x();
 
+            const tensor Rcyl =
+            (
+                hasCache
+              ? (*Rcyl_)[i]
+              : coordSys_.R(mesh_.C()[celli])
+            );
+
             // Transform velocity into local cylindrical reference frame
-            vector Uc = cylindrical_->invTransform(U[celli], i);
+            vector Uc = invTransform(Rcyl, U[celli]);
 
             // Transform velocity into local coning system
             Uc = transform(Rcone_[i], Uc);
@@ -132,8 +141,8 @@ void Foam::fv::rotorDiskSource::calculate
             // Transform force from local coning system into rotor cylindrical
             localForce = invTransform(Rcone_[i], localForce);
 
-            // Transform force into global Cartesian co-ordinate system
-            force[celli] = cylindrical_->transform(localForce, i);
+            // Transform force into global Cartesian coordinate system
+            force[celli] = transform(Rcyl, localForce);
 
             if (divideVolume)
             {

src/fvOptions/sources/derived/rotorDiskSource/trimModel/targetCoeff/targetCoeffTrim.C

@@ -57,9 +57,9 @@ Foam::vector Foam::targetCoeffTrim::calcCoeffs
     const List<point>& x = rotor_.x();
 
     const vector& origin = rotor_.coordSys().origin();
-    const vector& rollAxis = rotor_.coordSys().R().e1();
-    const vector& pitchAxis = rotor_.coordSys().R().e2();
-    const vector& yawAxis = rotor_.coordSys().R().e3();
+    const vector& rollAxis = rotor_.coordSys().e1();
+    const vector& pitchAxis = rotor_.coordSys().e2();
+    const vector& yawAxis = rotor_.coordSys().e3();
 
     scalar coeff1 = alpha_*sqr(rotor_.omega())*mathematical::pi;
 

src/fvOptions/sources/interRegion/interRegionExplicitPorositySource/interRegionExplicitPorositySource.H

@@ -43,13 +43,9 @@ Description
 
             coordinateSystem
             {
-                origin      (0 0 0);
-                coordinateRotation
-                {
-                    type axesRotation;
-                    e1  (0.70710678 0.70710678 0);
-                    e2  (0 0 1);
-                }
+                origin  (0 0 0);
+                e1      (0.70710678 0.70710678 0);
+                e2      (0 0 1);
             }
         }
     }

src/lagrangian/basic/injectedParticle/injectedParticleIO.C

@@ -63,7 +63,7 @@ Foam::injectedParticle::injectedParticle
     if (readFields)
     {
         // After the base particle class has read the fields from file and
-        // constructed the necessary barycentric co-ordinates we can update the
+        // constructed the necessary barycentric coordinates we can update the
         // particle position on this mesh
         position_ = particle::position();
 

src/lagrangian/intermediate/submodels/CloudFunctionObjects/ParticleCollector/ParticleCollector.C

@@ -207,7 +207,7 @@ void Foam::ParticleCollector<CloudType>::initConcentricCircles()
     faces_.setSize(nFace);
     area_.setSize(nFace);
 
-    coordSys_ = cylindricalCS("collector", origin, normal_[0], refDir);
+    coordSys_ = coordSystem::cylindrical(origin, normal_[0], refDir);
 
     List<label> ptIDs(identity(nPointPerRadius));
 
@@ -356,7 +356,7 @@ void Foam::ParticleCollector<CloudType>::collectParcelConcentricCircles
         return;
     }
 
-    // Intersection point in cylindrical co-ordinate system
+    // Intersection point in cylindrical coordinate system
     const point pCyl = coordSys_.localPosition(p1 + (d1/(d1 - d2))*(p2 - p1));
 
     scalar r = pCyl[0];

src/lagrangian/intermediate/submodels/CloudFunctionObjects/ParticleCollector/ParticleCollector.H

@@ -160,8 +160,8 @@ private:
             //- List of radii
             List<scalar> radius_;
 
-            //- Cylindrical co-ordinate system
-            cylindricalCS coordSys_;
+            //- Cylindrical coordinate system
+            coordSystem::cylindrical coordSys_;
 
 
         //- Face areas

src/lagrangian/intermediate/submodels/Kinematic/InjectionModel/KinematicLookupTableInjection/KinematicLookupTableInjection.H

@@ -42,7 +42,7 @@ Description
 
     where:
     \plaintable
-        x, y, z | global cartesian co-ordinates [m]
+        x, y, z | global cartesian coordinates [m]
         u, v, w | global cartesian velocity components [m/s]
         d       | diameter [m]
         rho     | density [kg/m3]

src/lagrangian/intermediate/submodels/Reacting/InjectionModel/ReactingLookupTableInjection/ReactingLookupTableInjection.H

@@ -39,7 +39,7 @@ Description
     );
 
     where:
-        x, y, z = global cartesian co-ordinates [m]
+        x, y, z = global cartesian coordinates [m]
         u, v, w = global cartesian velocity components [m/s]
         d       = diameter [m]
         rho     = density [kg/m3]

src/lagrangian/intermediate/submodels/ReactingMultiphase/InjectionModel/ReactingMultiphaseLookupTableInjection/ReactingMultiphaseLookupTableInjection.H

@@ -39,7 +39,7 @@ Description
     );
 
     where:
-        x, y, z  = global cartesian co-ordinates [m]
+        x, y, z  = global cartesian coordinates [m]
         u, v, w  = global cartesian velocity components [m/s]
         d        = diameter [m]
         rho      = density [kg/m3]

src/lagrangian/intermediate/submodels/Thermodynamic/InjectionModel/ThermoLookupTableInjection/ThermoLookupTableInjection.H

@@ -39,7 +39,7 @@ Description
     );
 
     where:
-        x, y, z = global cartesian co-ordinates [m]
+        x, y, z = global cartesian coordinates [m]
         u, v, w = global cartesian velocity components [m/s]
         d       = diameter [m]
         rho     = density [kg/m3]

src/lumpedPointMotion/lumpedPointStateWriter.C

@@ -26,7 +26,7 @@ License
 #include "lumpedPointState.H"
 #include "OFstream.H"
 #include "axesRotation.H"
-
+#include "coordinateSystem.H"
 #include "foamVtkOutput.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -183,14 +183,17 @@ void Foam::lumpedPointState::writeVTP
     }
 
     // Standard corners in local axis
-    const axesRotation cornerTransform(axis);
-
     FixedList<point, 4> corners;
-    forAll(standardCorners, corni)
-    {
-        corners[corni] = cornerTransform.transform(standardCorners[corni]);
-    }
 
+    {
+        coordinateRotations::axes orient(axis);
+        coordinateSystem cornerTransform(orient);
+
+        forAll(standardCorners, corni)
+        {
+            corners[corni] = cornerTransform.transform(standardCorners[corni]);
+        }
+    }
 
     //
     // Planes to visualize location/rotation

src/mesh/blockMesh/blockEdges/arcEdge/arcEdge.C

@@ -41,7 +41,7 @@ namespace blockEdges
 
 // * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
 
-Foam::cylindricalCS Foam::blockEdges::arcEdge::calcAngle()
+Foam::coordSystem::cylindrical Foam::blockEdges::arcEdge::calcAngle()
 {
     const vector a = p2_ - p1_;
     const vector b = p3_ - p1_;
@@ -99,7 +99,7 @@ Foam::cylindricalCS Foam::blockEdges::arcEdge::calcAngle()
     radius_ = mag(r3);
 
     // The corresponding local cylindrical coordinate system (radians)
-    return cylindricalCS("arc", centre, arcAxis, r1);
+    return coordSystem::cylindrical("arc", centre, arcAxis, r1);
 }
 
 

src/mesh/blockMesh/blockEdges/arcEdge/arcEdge.H

@@ -65,14 +65,14 @@ class arcEdge
         scalar radius_;
 
         //- The local cylindrical coordinate system
-        cylindricalCS cs_;
+        coordSystem::cylindrical cs_;
 
 
     // Private Member Functions
 
         //- Calculate the angle, radius and axis
-        //  \return the coordinate system
-        cylindricalCS calcAngle();
+        //  \return the cylindrical coordinate system
+        coordSystem::cylindrical calcAngle();
 
         //- No copy construct
         arcEdge(const arcEdge&) = delete;

src/meshTools/Make/files

@@ -59,17 +59,20 @@ cellFeatures/cellFeatures.C
 csys = coordinate/systems
 $(csys)/coordinateSystem.C
 $(csys)/coordinateSystemNew.C
+$(csys)/coordinateSystemTransform.C
 $(csys)/coordinateSystems.C
-$(csys)/cylindricalCS.C
 $(csys)/cartesianCS.C
+$(csys)/cylindricalCS.C
+$(csys)/indirectCS.C
 
 crot = coordinate/rotation
 $(crot)/axesRotation.C
+$(crot)/axisAngleRotation.C
 $(crot)/coordinateRotation.C
-$(crot)/coordinateRotationNew.C
+$(crot)/cylindricalRotation.C
+$(crot)/identityRotation.C
 $(crot)/EulerCoordinateRotation.C
 $(crot)/STARCDCoordinateRotation.C
-$(crot)/cylindrical.C
 
 polyMeshZipUpCells/polyMeshZipUpCells.C
 primitiveMeshGeometry/primitiveMeshGeometry.C

src/meshTools/coordinate/rotation/EulerCoordinateRotation.C

@@ -31,24 +31,34 @@ License
 
 namespace Foam
 {
-    defineTypeNameAndDebug(EulerCoordinateRotation, 0);
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        EulerCoordinateRotation,
-        dictionary
-    );
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        EulerCoordinateRotation,
-        objectRegistry
-    );
+    namespace coordinateRotations
+    {
+        defineTypeName(euler);
+
+        // Standard short name
+        addNamedToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            euler,
+            dictionary,
+            euler
+        );
+
+        // Longer name - Compat 1806
+        addNamedToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            euler,
+            dictionary,
+            EulerRotation
+        );
+    }
 }
 
+
 // * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //
 
-Foam::tensor Foam::EulerCoordinateRotation::rotation
+Foam::tensor Foam::coordinateRotations::euler::rotation
 (
     const vector& angles,
     bool degrees
@@ -84,174 +94,96 @@ Foam::tensor Foam::EulerCoordinateRotation::rotation
 }
 
 
-// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
-
-Foam::vector Foam::EulerCoordinateRotation::transform(const vector& st) const
-{
-    return (R_ & st);
-}
-
-
-Foam::vector Foam::EulerCoordinateRotation::invTransform
-(
-    const vector& st
-) const
-{
-    return (Rtr_ & st);
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::EulerCoordinateRotation::transform
-(
-    const vectorField& st
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::EulerCoordinateRotation::invTransform
-(
-    const vectorField& st
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-const Foam::tensorField& Foam::EulerCoordinateRotation::Tr() const
-{
-    NotImplemented;
-    return NullObjectRef<tensorField>();
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::EulerCoordinateRotation::transformTensor
-(
-    const tensorField& st
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tensor Foam::EulerCoordinateRotation::transformTensor
-(
-    const tensor& st
-) const
-{
-    return (R_ & st & Rtr_);
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::EulerCoordinateRotation::transformTensor
-(
-    const tensorField& st,
-    const labelList& cellMap
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tmp<Foam::symmTensorField> Foam::EulerCoordinateRotation::
-transformVector
-(
-    const vectorField& st
-) const
-{
-    tmp<symmTensorField> tfld(new symmTensorField(st.size()));
-    symmTensorField& fld = tfld.ref();
-
-    forAll(fld, i)
-    {
-        fld[i] = transformPrincipal(R_, st[i]);
-    }
-    return tfld;
-}
-
-
-Foam::symmTensor Foam::EulerCoordinateRotation::transformVector
-(
-    const vector& st
-) const
-{
-    return transformPrincipal(R_, st);
-}
-
-
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::EulerCoordinateRotation::EulerCoordinateRotation()
+Foam::coordinateRotations::euler::euler()
 :
-    R_(sphericalTensor::I),
-    Rtr_(sphericalTensor::I)
+    coordinateRotation(),
+    angles_(Zero),
+    degrees_(true)
 {}
 
 
-Foam::EulerCoordinateRotation::EulerCoordinateRotation
-(
-    const EulerCoordinateRotation& r
-)
+Foam::coordinateRotations::euler::euler(const euler& crot)
 :
-    R_(r.R_),
-    Rtr_(r.Rtr_)
+    coordinateRotation(crot),
+    angles_(crot.angles_),
+    degrees_(crot.degrees_)
 {}
 
 
-Foam::EulerCoordinateRotation::EulerCoordinateRotation
+Foam::coordinateRotations::euler::euler
 (
     const vector& phiThetaPsi,
-    const bool degrees
+    bool degrees
 )
 :
-    R_(rotation(phiThetaPsi, degrees)),
-    Rtr_(R_.T())
+    coordinateRotation(),
+    angles_(phiThetaPsi),
+    degrees_(degrees)
 {}
 
 
-Foam::EulerCoordinateRotation::EulerCoordinateRotation
+Foam::coordinateRotations::euler::euler
 (
-    const scalar phi,
-    const scalar theta,
-    const scalar psi,
-    const bool degrees
+    scalar phi,
+    scalar theta,
+    scalar psi,
+    bool degrees
 )
 :
-    R_(rotation(vector(phi, theta, psi), degrees)),
-    Rtr_(R_.T())
+    coordinateRotation(),
+    angles_(phi, theta, psi),
+    degrees_(degrees)
 {}
 
 
-Foam::EulerCoordinateRotation::EulerCoordinateRotation
+Foam::coordinateRotations::euler::euler(const dictionary& dict)
+:
+    coordinateRotation(),
+    angles_(dict.getCompat<vector>("angles", {{"rotation", 1806}})),
+    degrees_(dict.lookupOrDefault("degrees", true))
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::coordinateRotations::euler::clear()
+{
+    angles_ = Zero;
+    degrees_ = true;
+}
+
+
+Foam::tensor Foam::coordinateRotations::euler::R() const
+{
+    return euler::rotation(angles_, degrees_);
+}
+
+
+void Foam::coordinateRotations::euler::write(Ostream& os) const
+{
+    os  << "euler-angles(" << (degrees_ ? "deg" : "rad") << "): " << angles_;
+}
+
+
+void Foam::coordinateRotations::euler::writeEntry
 (
-    const dictionary& dict
-)
-:
-    R_
-    (
-        rotation
-        (
-            dict.get<vector>("rotation"),
-            dict.lookupOrDefault("degrees", true)
-        )
-    ),
-    Rtr_(R_.T())
-{}
+    const word& keyword,
+    Ostream& os
+) const
+{
+    os.beginBlock(keyword);
 
+    os.writeEntry("type", type());
+    os.writeEntry("angles", angles_);
+    if (!degrees_)
+    {
+        os.writeEntry("degrees", "false");
+    }
 
-Foam::EulerCoordinateRotation::EulerCoordinateRotation
-(
-    const dictionary& dict,
-    const objectRegistry&
-)
-:
-    EulerCoordinateRotation(dict)
-{}
+    os.endBlock();
+}
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

src/meshTools/coordinate/rotation/EulerCoordinateRotation.H

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2017 OpenFOAM Foundation
-     \\/     M anipulation  | Copyright (C) 2017 OpenCFD Ltd.
+     \\/     M anipulation  | Copyright (C) 2017-2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -22,7 +22,7 @@ License
     along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
 Class
-    Foam::EulerCoordinateRotation
+    Foam::coordinateRotations::euler
 
 Description
     A coordinateRotation defined in the z-x-z (intrinsic) Euler convention.
@@ -34,24 +34,29 @@ Description
     For reference and illustration, see
     https://en.wikipedia.org/wiki/Euler_angles
 
-    The rotation angles are in degrees, unless otherwise explicitly specified:
-
     \verbatim
     coordinateRotation
     {
-        type        EulerRotation;
-        degrees     false;
-        rotation    (0 0 3.141592654);
+        type    euler;
+        angles  (0 0 180);
     }
     \endverbatim
 
+    \heading Dictionary entries
+    \table
+        Property    | Description                           | Required | Default
+        type        | Type name: euler (or EulerRotation)   | yes   |
+        angles      | The z-x-z rotation angles             | yes   |
+        degrees     | Angles are in degrees                 | no    | true
+    \endtable
+
 SourceFiles
     EulerCoordinateRotation.C
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef EulerCoordinateRotation_H
-#define EulerCoordinateRotation_H
+#ifndef coordinateRotations_euler_H
+#define coordinateRotations_euler_H
 
 #include "coordinateRotation.H"
 
@@ -59,73 +64,62 @@ SourceFiles
 
 namespace Foam
 {
+namespace coordinateRotations
+{
 
 /*---------------------------------------------------------------------------*\
-                   Class EulerCoordinateRotation Declaration
+                 Class coordinateRotations::euler Declaration
 \*---------------------------------------------------------------------------*/
 
-class EulerCoordinateRotation
+class euler
 :
     public coordinateRotation
 {
-    // Private Member Data
+    // Private Data
 
-        //- Local-to-global transformation tensor
-        tensor R_;
+        //- The rotation angles
+        vector angles_;
 
-        //- Global-to-Local transformation tensor
-        tensor Rtr_;
+        //- Angles measured in degrees
+        bool degrees_;
 
 
 public:
 
     //- Runtime type information
-    TypeName("EulerRotation");
+    TypeNameNoDebug("euler");
 
 
     // Constructors
 
-        //- Construct null
-        EulerCoordinateRotation();
+        //- Construct null - an identity transform
+        euler();
 
-        //- Construct as copy
-        EulerCoordinateRotation(const EulerCoordinateRotation& r);
+        //- Copy construct
+        euler(const euler& crot);
 
-        //- Construct from rotation vector
-        EulerCoordinateRotation
-        (
-            const vector& phiThetaPsi,
-            const bool degrees
-        );
+        //- Construct from Euler rotation angles (z-x-z)
+        euler(const vector& phiThetaPsi, bool degrees);
 
-        //- Construct from components of rotation vector
-        EulerCoordinateRotation
-        (
-            const scalar phi,
-            const scalar theta,
-            const scalar psi,
-            const bool degrees
-        );
+        //- Construct from Euler rotation angles (z-x-z)
+        euler(scalar phi, scalar theta, scalar psi, bool degrees);
 
         //- Construct from dictionary
-        explicit EulerCoordinateRotation(const dictionary& dict);
-
-        //- Construct from dictionary and a registry (typically a mesh)
-        EulerCoordinateRotation
-        (
-            const dictionary& dict,
-            const objectRegistry& unused
-        );
+        explicit euler(const dictionary& dict);
 
         //- Return clone
         autoPtr<coordinateRotation> clone() const
         {
             return
                 autoPtr<coordinateRotation>::NewFrom
-                <EulerCoordinateRotation>(*this);
+                <coordinateRotations::euler>(*this);
         }
 
 
+    //- Destructor
+    virtual ~euler() = default;
+
+
     // Static Member Functions
 
         //- The rotation tensor calculated for the specified Euler angles
@@ -135,91 +129,29 @@ public:
 
     // Member Functions
 
-        //- Reset rotation to an identity rotation
-        virtual void clear()
-        {
-            R_ = sphericalTensor::I;
-            Rtr_ = sphericalTensor::I;
-        }
+        //- Reset specification
+        virtual void clear();
 
-        //- Update the rotation for a list of cells
-        virtual void updateCells(const polyMesh&, const labelList&)
-        {}
+        //- The rotation tensor calculated for the specified Euler angles.
+        virtual tensor R() const;
 
-        //- Return local-to-global transformation tensor
-        virtual const tensor& R() const
-        {
-            return R_;
-        }
+        //- Write information
+        virtual void write(Ostream& os) const;
 
-        //- Return global-to-local transformation tensor
-        virtual const tensor& Rtr() const
-        {
-            return Rtr_;
-        };
-
-        //- Return local Cartesian x-axis in global coordinates
-        virtual const vector e1() const
-        {
-            return Rtr_.x();
-        }
-
-        //- Return local Cartesian y-axis in global coordinates
-        virtual const vector e2() const
-        {
-            return Rtr_.y();
-        }
-
-        //- Return local Cartesian z-axis in global coordinates
-        virtual const vector e3() const
-        {
-            return Rtr_.z();
-        }
-
-        //- Return transformation tensor field
-        virtual const tensorField& Tr() const;
-
-        //- Transform vectorField using transformation tensor field
-        virtual tmp<vectorField> transform(const vectorField& st) const;
-
-        //- Transform vector using transformation tensor
-        virtual vector transform(const vector& st) const;
-
-        //- Inverse transform vectorField using transformation tensor field
-        virtual tmp<vectorField> invTransform(const vectorField& st) const;
-
-        //- Inverse transform vector using transformation tensor
-        virtual vector invTransform(const vector& st) const;
-
-        //- Transform tensor field using transformation tensorField
-        virtual tmp<tensorField> transformTensor(const tensorField& st) const;
-
-        //- Transform tensor using transformation tensorField
-        virtual tensor transformTensor(const tensor& st) const;
-
-        //- Transform tensor sub-field using transformation tensorField
-        virtual tmp<tensorField> transformTensor
-        (
-            const tensorField& st,
-            const labelList& cellMap
-        ) const;
-
-        //- Transform vectorField using transformation tensorField and return
-        // symmetrical tensorField
-        virtual tmp<symmTensorField> transformVector
-        (
-            const vectorField& st
-        ) const;
-
-        //- Transform vector using transformation tensor and return
-        // symmetrical tensor
-        virtual symmTensor transformVector(const vector& st) const;
+        //- Write dictionary entry
+        virtual void writeEntry(const word& keyword, Ostream& os) const;
 
 };
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
+} // End namespace coordinateRotations
+
+
+//- Compatibility typedef 1806
+typedef coordinateRotations::euler EulerCoordinateRotation;
+
 } // End namespace Foam
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

src/meshTools/coordinate/rotation/STARCDCoordinateRotation.C

@@ -31,128 +31,37 @@ License
 
 namespace Foam
 {
-    defineTypeNameAndDebug(STARCDCoordinateRotation, 0);
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        STARCDCoordinateRotation,
-        dictionary
-    );
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        STARCDCoordinateRotation,
-        objectRegistry
-    );
-}
-
-
-// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
-
-Foam::vector Foam::STARCDCoordinateRotation::transform(const vector& st) const
-{
-    return (R_ & st);
-}
-
-
-Foam::vector Foam::STARCDCoordinateRotation::invTransform
-(
-    const vector& st
-) const
-{
-    return (Rtr_ & st);
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::STARCDCoordinateRotation::transform
-(
-    const vectorField& st
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::STARCDCoordinateRotation::invTransform
-(
-    const vectorField& st
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-const Foam::tensorField& Foam::STARCDCoordinateRotation::Tr() const
-{
-    NotImplemented;
-    return NullObjectRef<tensorField>();
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::STARCDCoordinateRotation::transformTensor
-(
-    const tensorField& st
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tensor Foam::STARCDCoordinateRotation::transformTensor
-(
-    const tensor& st
-) const
-{
-    return (R_ & st & Rtr_);
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::STARCDCoordinateRotation::transformTensor
-(
-    const tensorField& st,
-    const labelList& cellMap
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tmp<Foam::symmTensorField> Foam::STARCDCoordinateRotation::
-transformVector
-(
-    const vectorField& st
-) const
-{
-    tmp<symmTensorField> tfld(new symmTensorField(st.size()));
-    symmTensorField& fld = tfld.ref();
-
-    forAll(fld, i)
+    namespace coordinateRotations
     {
-        fld[i] = transformPrincipal(R_, st[i]);
+        defineTypeName(starcd);
+
+        // Standard short name
+        addNamedToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            starcd,
+            dictionary,
+            starcd
+        );
+
+        // Longer name - Compat 1806
+        addNamedToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            starcd,
+            dictionary,
+            STARCDRotation
+        );
     }
-    return tfld;
-}
-
-
-Foam::symmTensor Foam::STARCDCoordinateRotation::transformVector
-(
-    const vector& st
-) const
-{
-    return transformPrincipal(R_, st);
 }
 
 
 // * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //
 
-Foam::tensor Foam::STARCDCoordinateRotation::rotation
+Foam::tensor Foam::coordinateRotations::starcd::rotation
 (
     const vector& angles,
-    const bool degrees
+    bool degrees
 )
 {
     scalar z = angles.component(vector::X);    // 1. Rotate about Z
@@ -170,7 +79,6 @@ Foam::tensor Foam::STARCDCoordinateRotation::rotation
     const scalar cy = cos(y);  const scalar sy = sin(y);
     const scalar cz = cos(z);  const scalar sz = sin(z);
 
-
     return
         tensor
         (
@@ -183,72 +91,94 @@ Foam::tensor Foam::STARCDCoordinateRotation::rotation
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::STARCDCoordinateRotation::STARCDCoordinateRotation()
+Foam::coordinateRotations::starcd::starcd()
 :
-    R_(sphericalTensor::I),
-    Rtr_(sphericalTensor::I)
+    coordinateRotation(),
+    angles_(Zero),
+    degrees_(true)
 {}
 
 
-Foam::STARCDCoordinateRotation::STARCDCoordinateRotation
-(
-    const STARCDCoordinateRotation& r
-)
+Foam::coordinateRotations::starcd::starcd(const starcd& crot)
 :
-    R_(r.R_),
-    Rtr_(r.Rtr_)
+    coordinateRotation(crot),
+    angles_(crot.angles_),
+    degrees_(crot.degrees_)
 {}
 
 
-Foam::STARCDCoordinateRotation::STARCDCoordinateRotation
+Foam::coordinateRotations::starcd::starcd
 (
     const vector& rotZrotXrotY,
-    const bool degrees
+    bool degrees
 )
 :
-    R_(rotation(rotZrotXrotY, degrees)),
-    Rtr_(R_.T())
+    coordinateRotation(),
+    angles_(rotZrotXrotY),
+    degrees_(degrees)
 {}
 
 
-Foam::STARCDCoordinateRotation::STARCDCoordinateRotation
+Foam::coordinateRotations::starcd::starcd
 (
-    const scalar rotZ,
-    const scalar rotX,
-    const scalar rotY,
-    const bool degrees
+    scalar rotZ,
+    scalar rotX,
+    scalar rotY,
+    bool degrees
 )
 :
-    R_(rotation(vector(rotZ, rotX, rotY), degrees)),
-    Rtr_(R_.T())
+    coordinateRotation(),
+    angles_(rotZ, rotX, rotY),
+    degrees_(degrees)
 {}
 
 
-Foam::STARCDCoordinateRotation::STARCDCoordinateRotation
+Foam::coordinateRotations::starcd::starcd(const dictionary& dict)
+:
+    coordinateRotation(),
+    angles_(dict.getCompat<vector>("angles", {{"rotation", 1806}})),
+    degrees_(dict.lookupOrDefault("degrees", true))
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::coordinateRotations::starcd::clear()
+{
+    angles_ = Zero;
+    degrees_ = true;
+}
+
+
+Foam::tensor Foam::coordinateRotations::starcd::R() const
+{
+    return starcd::rotation(angles_, degrees_);
+}
+
+
+void Foam::coordinateRotations::starcd::write(Ostream& os) const
+{
+    os  << "starcd-angles(" << (degrees_ ? "deg" : "rad") << "): " << angles_;
+}
+
+
+void Foam::coordinateRotations::starcd::writeEntry
 (
-    const dictionary& dict
-)
-:
-    R_
-    (
-        rotation
-        (
-            dict.get<vector>("rotation"),
-            dict.lookupOrDefault("degrees", true)
-        )
-    ),
-    Rtr_(R_.T())
-{}
+    const word& keyword,
+    Ostream& os
+) const
+{
+    os.beginBlock(keyword);
 
+    os.writeEntry("type", type());
+    os.writeEntry("angles", angles_);
+    if (!degrees_)
+    {
+        os.writeEntry("degrees", "false");
+    }
 
-Foam::STARCDCoordinateRotation::STARCDCoordinateRotation
-(
-    const dictionary& dict,
-    const objectRegistry&
-)
-:
-    STARCDCoordinateRotation(dict)
-{}
+    os.endBlock();
+}
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

src/meshTools/coordinate/rotation/STARCDCoordinateRotation.H

@@ -22,7 +22,7 @@ License
     along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
 Class
-    Foam::STARCDCoordinateRotation
+    Foam::coordinateRotations::starcd
 
 Description
     A coordinateRotation defined by the STAR-CD convention.
@@ -36,19 +36,26 @@ Description
     \verbatim
     coordinateRotation
     {
-        type        STARCDRotation;
-        degrees     false;
-        rotation    (0 0 3.141592654);
+        type    starcd;
+        angles  (0 0 180);
     }
     \endverbatim
 
+    \heading Dictionary entries
+    \table
+        Property    | Description                           | Required | Default
+        type        | Type name: starcd (or STARCDRotation) | yes   |
+        angles      | The z-x-y rotation angles             | yes   |
+        degrees     | Angles are in degrees                 | no    | true
+    \endtable
+
 SourceFiles
     STARCDCoordinateRotation.C
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef STARCDCoordinateRotation_H
-#define STARCDCoordinateRotation_H
+#ifndef coordinateRotations_starcd_H
+#define coordinateRotations_starcd_H
 
 #include "coordinateRotation.H"
 
@@ -56,74 +63,62 @@ SourceFiles
 
 namespace Foam
 {
+namespace coordinateRotations
+{
 
 /*---------------------------------------------------------------------------*\
-                  Class STARCDCoordinateRotation Declaration
+                 Class coordinateRotations::starcd Declaration
 \*---------------------------------------------------------------------------*/
 
-class STARCDCoordinateRotation
+class starcd
 :
     public coordinateRotation
 {
-    // Private Member Data
+    // Private Data
 
-        //- Local-to-Global transformation tensor
-        tensor R_;
+        //- The rotation angles
+        vector angles_;
 
-        //- Global-to-Local transformation tensor
-        tensor Rtr_;
+        //- Angles measured in degrees
+        bool degrees_;
 
 
 public:
 
     //- Runtime type information
-    TypeName("STARCDRotation");
+    TypeNameNoDebug("starcd");
 
 
     // Constructors
 
-        //- Construct null
-        STARCDCoordinateRotation();
+        //- Construct null - an identity transform
+        starcd();
 
-        //- Construct as copy
-        STARCDCoordinateRotation(const STARCDCoordinateRotation& r);
+        //- Copy construct
+        starcd(const starcd& crot);
 
         //- Construct from rotation vector
-        STARCDCoordinateRotation
-        (
-            const vector& rotZrotXrotY,
-            const bool degrees
-        );
+        starcd(const vector& rotZrotXrotY, bool degrees);
 
         //- Construct from components of rotation vector
-        STARCDCoordinateRotation
-        (
-            const scalar rotZ,
-            const scalar rotX,
-            const scalar rotY,
-            const bool degrees
-        );
+        starcd(scalar rotZ, scalar rotX, scalar rotY, bool degrees);
 
         //- Construct from dictionary
-        explicit STARCDCoordinateRotation(const dictionary& dict);
-
-        //- Construct from dictionary and a registry (typically a mesh)
-        STARCDCoordinateRotation
-        (
-            const dictionary& dict,
-            const objectRegistry& unused
-        );
-
+        explicit starcd(const dictionary& dict);
 
         //- Return clone
         autoPtr<coordinateRotation> clone() const
         {
             return
                 autoPtr<coordinateRotation>::NewFrom
-                <STARCDCoordinateRotation>(*this);
+                <coordinateRotations::starcd>(*this);
         }
 
 
+    //- Destructor
+    virtual ~starcd() = default;
+
+
     // Static Member Functions
 
         //- The rotation tensor calculated for the specified STARCD angles
@@ -133,91 +128,29 @@ public:
 
     // Member Functions
 
-        //- Reset rotation to an identity rotation
-        virtual void clear()
-        {
-            R_ = sphericalTensor::I;
-            Rtr_ = sphericalTensor::I;
-        }
+        //- Reset specification
+        virtual void clear();
 
-        //- Update the rotation for a list of cells
-        virtual void updateCells(const polyMesh&, const labelList&)
-        {}
+        //- The rotation tensor calculated for the specified STARCD angles.
+        virtual tensor R() const;
 
-        //- Return local-to-global transformation tensor
-        virtual const tensor& R() const
-        {
-            return R_;
-        }
+        //- Write information
+        virtual void write(Ostream& os) const;
 
-        //- Return global-to-local transformation tensor
-        virtual const tensor& Rtr() const
-        {
-            return Rtr_;
-        };
-
-        //- Return local Cartesian x-axis in global coordinates
-        virtual const vector e1() const
-        {
-            return Rtr_.x();
-        }
-
-        //- Return local Cartesian y-axis in global coordinates
-        virtual const vector e2() const
-        {
-            return Rtr_.y();
-        }
-
-        //- Return local Cartesian z-axis in global coordinates
-        virtual const vector e3() const
-        {
-            return Rtr_.z();
-        }
-
-        //- Return transformation tensor field
-        virtual const tensorField& Tr() const;
-
-        //- Transform vectorField using transformation tensor field
-        virtual tmp<vectorField> transform(const vectorField& st) const;
-
-        //- Transform vector using transformation tensor
-        virtual vector transform(const vector& st) const;
-
-        //- Inverse transform vectorField using transformation tensor field
-        virtual tmp<vectorField> invTransform(const vectorField& st) const;
-
-        //- Inverse transform vector using transformation tensor
-        virtual vector invTransform(const vector& st) const;
-
-        //- Transform tensor field using transformation tensorField
-        virtual tmp<tensorField> transformTensor(const tensorField& st) const;
-
-        //- Transform tensor using transformation tensorField
-        virtual tensor transformTensor(const tensor& st) const;
-
-        //- Transform tensor sub-field using transformation tensorField
-        virtual tmp<tensorField> transformTensor
-        (
-            const tensorField& st,
-            const labelList& cellMap
-        ) const;
-
-        //- Transform vectorField using transformation tensorField and return
-        // symmetrical tensorField
-        virtual tmp<symmTensorField> transformVector
-        (
-            const vectorField& st
-        ) const;
-
-        //- Transform vector using transformation tensor and return
-        // symmetrical tensor
-        virtual symmTensor transformVector(const vector& st) const;
+        //- Write dictionary entry
+        virtual void writeEntry(const word& keyword, Ostream& os) const;
 
 };
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
+} // End namespace coordinateRotations
+
+
+//- Compatibility typedef 1806
+typedef coordinateRotations::starcd STARCDCoordinateRotation;
+
 } // End namespace Foam
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

src/meshTools/coordinate/rotation/axesRotation.C

@@ -31,25 +31,34 @@ License
 
 namespace Foam
 {
-    defineTypeNameAndDebug(axesRotation, 0);
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        axesRotation,
-        dictionary
-    );
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        axesRotation,
-        objectRegistry
-    );
+    namespace coordinateRotations
+    {
+        defineTypeName(axes);
+
+        // Standard short name
+        addNamedToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            axes,
+            dictionary,
+            axes
+        );
+
+        // Longer name - Compat 1806
+        addNamedToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            axes,
+            dictionary,
+            axesRotation
+        );
+    }
 }
 
 
 // * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //
 
-Foam::tensor Foam::axesRotation::rotation
+Foam::tensor Foam::coordinateRotations::axes::rotation
 (
     const vector& axis1,
     const vector& axis2,
@@ -143,221 +152,193 @@ Foam::tensor Foam::axesRotation::rotation
 
 // * * * * * * * * * * * * Protected Member Functions  * * * * * * * * * * * //
 
-void Foam::axesRotation::read(const dictionary& dict)
+void Foam::coordinateRotations::axes::read(const dictionary& dict)
 {
-    vector axis1, axis2;
-    axisOrder order = E3_E1;
-
     if
     (
-        dict.readIfPresent("e1", axis1)
-     && dict.readIfPresent("e2", axis2)
+        dict.readIfPresent("e1", axis1_)
+     && dict.readIfPresent("e2", axis2_)
     )
     {
-        order = E1_E2;
+        order_ = E1_E2;
     }
     else if
     (
-        dict.readIfPresent("e2", axis1)
-     && dict.readIfPresent("e3", axis2)
+        dict.readIfPresent("e2", axis1_)
+     && dict.readIfPresent("e3", axis2_)
     )
     {
-        order = E2_E3;
+        order_ = E2_E3;
     }
     else if
     (
-        dict.readIfPresent("e3", axis1)
-     && dict.readIfPresent("e1", axis2)
+        dict.readIfPresent("e3", axis1_)
+     && dict.readIfPresent("e1", axis2_)
     )
     {
-        order = E3_E1;
+        order_ = E3_E1;
     }
     else if
     (
-        dict.readIfPresent("axis", axis1)
-     && dict.readIfPresent("direction", axis2)
+        dict.readIfPresent("axis", axis1_)
+     && dict.readIfPresent("direction", axis2_)
     )
     {
-        order = E3_E1_COMPAT;
+        order_ = E3_E1_COMPAT;
     }
     else
     {
-        FatalErrorInFunction
+        FatalIOErrorInFunction(dict)
             << "No entries of the type (e1, e2) or (e2, e3) or (e3, e1) found"
-            << exit(FatalError);
+            << exit(FatalIOError);
     }
-
-    R_ = rotation(axis1, axis2, order);
-    Rtr_ = R_.T();
 }
 
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::axesRotation::axesRotation()
+Foam::coordinateRotations::axes::axes()
 :
-    R_(sphericalTensor::I),
-    Rtr_(sphericalTensor::I)
+    coordinateRotation(),
+    axis1_(0,0,1),  // e3 = global Z
+    axis2_(1,0,0),  // e1 = global X
+    order_(E3_E1)
 {}
 
 
-Foam::axesRotation::axesRotation(const axesRotation& r)
+Foam::coordinateRotations::axes::axes(const axes& crot)
 :
-    R_(r.R_),
-    Rtr_(r.Rtr_)
+    coordinateRotation(crot),
+    axis1_(crot.axis1_),
+    axis2_(crot.axis2_),
+    order_(crot.order_)
 {}
 
 
-Foam::axesRotation::axesRotation(const tensor& R)
+Foam::coordinateRotations::axes::axes(axes&& crot)
 :
-    R_(R),
-    Rtr_(R_.T())
+    coordinateRotation(std::move(crot)),
+    axis1_(std::move(crot.axis1_)),
+    axis2_(std::move(crot.axis2_)),
+    order_(crot.order_)
 {}
 
 
-Foam::axesRotation::axesRotation
+Foam::coordinateRotations::axes::axes
 (
-    const vector& axis,
-    const vector& dir,
-    const axisOrder& order
+    const vector& axis1,
+    const vector& axis2,
+    axisOrder order
 )
 :
-    R_(rotation(axis, dir, order)),
-    Rtr_(R_.T())
+    coordinateRotation(),
+    axis1_(axis1),
+    axis2_(axis2),
+    order_(order)
 {}
 
 
-Foam::axesRotation::axesRotation
-(
-    const vector& axis
-)
+Foam::coordinateRotations::axes::axes(const vector& axis)
 :
-    R_(rotation(axis, findOrthogonal(axis), E3_E1)),
-    Rtr_(R_.T())
+    coordinateRotations::axes(axis, Zero, E3_E1_COMPAT)  // Guess second axis
 {}
 
 
-Foam::axesRotation::axesRotation
-(
-    const dictionary& dict
-)
+Foam::coordinateRotations::axes::axes(const dictionary& dict)
 :
-    R_(sphericalTensor::I),
-    Rtr_(sphericalTensor::I)
+    coordinateRotations::axes()
 {
     read(dict);
 }
 
 
-Foam::axesRotation::axesRotation
-(
-    const dictionary& dict,
-    const objectRegistry&
-)
-:
-    axesRotation(dict)
-{}
-
-
 // * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
 
-const Foam::tensorField& Foam::axesRotation::Tr() const
+void Foam::coordinateRotations::axes::clear()
 {
-    NotImplemented;
-    return NullObjectRef<tensorField>();
+    axis1_ = vector(0,0,1);  // e3 = global Z
+    axis2_ = vector(1,0,0);  // e1 = global X
+    order_ = E3_E1;
 }
 
 
-Foam::tmp<Foam::vectorField> Foam::axesRotation::transform
-(
-    const vectorField& st
-) const
+Foam::tensor Foam::coordinateRotations::axes::R() const
 {
-    return (R_ & st);
+    return axes::rotation(axis1_, axis2_, order_);
 }
 
 
-Foam::vector Foam::axesRotation::transform(const vector& st) const
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::coordinateRotations::axes::write(Ostream& os) const
 {
-    return (R_ & st);
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::axesRotation::invTransform
-(
-    const vectorField& st
-) const
-{
-    return (Rtr_ & st);
-}
-
-
-Foam::vector Foam::axesRotation::invTransform(const vector& st) const
-{
-    return (Rtr_ & st);
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::axesRotation::transformTensor
-(
-    const tensorField& st
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tensor Foam::axesRotation::transformTensor
-(
-    const tensor& st
-) const
-{
-    return (R_ & st & Rtr_);
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::axesRotation::transformTensor
-(
-    const tensorField& st,
-    const labelList& cellMap
-) const
-{
-    NotImplemented;
-    return nullptr;
-}
-
-
-Foam::tmp<Foam::symmTensorField> Foam::axesRotation::transformVector
-(
-    const vectorField& st
-) const
-{
-    tmp<symmTensorField> tfld(new symmTensorField(st.size()));
-    symmTensorField& fld = tfld.ref();
-
-    forAll(fld, i)
+    switch (order_)
     {
-        fld[i] = transformPrincipal(R_, st[i]);
+        case E1_E2:
+            os << "e1: " << axis1_ << " e2: " << axis2_;
+            break;
+        case E2_E3:
+            os << "e2: " << axis1_ << " e3: " << axis2_;
+            break;
+        case E3_E1:
+            os << "e1: " << axis2_ << " e3: " << axis1_;
+            break;
+        case E3_E1_COMPAT:
+            os << "axis: " << axis1_ << " direction: " << axis2_;
+            break;
     }
-    return tfld;
 }
 
 
-Foam::symmTensor Foam::axesRotation::transformVector
+void Foam::coordinateRotations::axes::writeEntry
 (
-    const vector& st
+    const word& keyword,
+    Ostream& os
 ) const
 {
-    return transformPrincipal(R_, st);
-}
+    // We permit direct embedding of the axes specification without
+    // requiring a sub-dictionary.
 
+    const bool subDict = !keyword.empty();
 
-// * * * * * * * * * * * * * * * Member Operators  * * * * * * * * * * * * * //
+    if (subDict)
+    {
+        os.beginBlock(keyword);
+        os.writeEntry("type", type());
+    }
 
-void Foam::axesRotation::operator=(const dictionary& dict)
-{
-    read(dict);
+    switch (order_)
+    {
+        case E1_E2:
+        {
+            os.writeEntry("e1", axis1_);
+            os.writeEntry("e2", axis2_);
+            break;
+        }
+        case E2_E3:
+        {
+            os.writeEntry("e2", axis1_);
+            os.writeEntry("e3", axis2_);
+            break;
+        }
+        case E3_E1:
+        {
+            os.writeEntry("e1", axis2_);
+            os.writeEntry("e3", axis1_);
+            break;
+        }
+        case E3_E1_COMPAT:
+        {
+            os.writeEntry("axis", axis1_);
+            os.writeEntry("direction", axis2_);
+            break;
+        }
+    }
+
+    if (subDict)
+    {
+        os.endBlock();
+    }
 }
 
 

src/meshTools/coordinate/rotation/axesRotation.H

@@ -22,48 +22,59 @@ License
     along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
 Class
-    Foam::axesRotation
+    Foam::coordinateRotations::axes
 
 Description
-    A coordinate rotation specified using global axes
+    A coordinateRotation specified using global axes.
 
     The rotation is defined by a combination of vectors (e1/e2), (e2/e3)
-    or (e3/e1). Any nonorthogonality will be absorbed into the second
-    vector. In terms of cylindrical coordinates, the 'axis' would
-    correspond to the \a z-axis and the 'direction' to the \a r-axis.
+    or (e3/e1). Any nonorthogonality is absorbed into the second vector.
 
     \verbatim
-    axesRotation
+    coordinateRotation
     {
-        type        axesRotation;
+        type        axes;
         e1          (1 0 0);
         e2          (0 1 0);
     }
     \endverbatim
 
+    \heading Dictionary entries
+    \table
+        Property    | Description                       | Required  | Default
+        type        | type name: axes (previously axesRotation)     | yes   |
+        e1          | local x-axis                      | partly    |
+        e2          | local y-axis                      | partly    |
+        e3          | local z-axis                      | partly    |
+    \endtable
+
+Note
+    It is also possible to specify in terms of \c axis and \c direction.
+    For cylindrical coordinates, the \c axis would correspond to the
+    \a z-axis and the \c direction to the \a r-axis.
+
 SourceFiles
     axesRotation.C
 
 \*---------------------------------------------------------------------------*/
 
-#ifndef axesRotation_H
-#define axesRotation_H
+#ifndef coordinateRotations_axes_H
+#define coordinateRotations_axes_H
 
-#include "vector.H"
 #include "coordinateRotation.H"
-#include "dictionary.H"
-#include "runTimeSelectionTables.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 namespace Foam
 {
+namespace coordinateRotations
+{
 
 /*---------------------------------------------------------------------------*\
-                    Class axesRotation Declaration
+                  Class coordinateRotations::axes Declaration
 \*---------------------------------------------------------------------------*/
 
-class axesRotation
+class axes
 :
     public coordinateRotation
 {
@@ -76,19 +87,22 @@ public:
         E1_E2,  //!< The axis1 (dominant) is local X, axis2 is local Y.
         E2_E3,  //!< The axis1 (dominant) is local Y, axis2 is local Z.
         E3_E1,  //!< The axis1 (dominant) is local Z, axis2 is local X.
-        E3_E1_COMPAT, //!< E3_E1 specified as axis/direction.
+        E3_E1_COMPAT  //!< E3_E1 specified as axis/direction.
     };
 
 
-private:
+protected:
 
-    // Private data
+    // Protected Data
 
-        //- Local-to-Global transformation tensor
-        tensor R_;
+        //- The primary axis
+        vector axis1_;
 
-        //- Global-to-Local transformation tensor
-        tensor Rtr_;
+        //- The secondary axis
+        vector axis2_;
+
+        //- The axis order
+        axisOrder order_;
 
 
     // Protected Member Functions
@@ -100,67 +114,52 @@ private:
 public:
 
     //- Runtime type information
-    TypeName("axesRotation");
+    TypeNameNoDebug("axes");
+
 
     // Constructors
 
-        //- Construct null
-        axesRotation();
+        //- Construct null - an identity transform
+        axes();
 
-        //- Construct as copy
-        axesRotation(const axesRotation& r);
+        //- Copy construct
+        axes(const axes& crot);
 
-        //- Construct from local to global rotation matrix
-        explicit axesRotation(const tensor& R);
+        //- Move construct
+        axes(axes&& crot);
 
-        //- Construct from two axes (axis and direction)
-        axesRotation
-        (
-            const vector& axis,
-            const vector& dir,
-            const axisOrder& order = E3_E1
-        );
+        //- Construct from two axes
+        axes(const vector& axis1, const vector& axis2, axisOrder order=E3_E1);
 
-        //- Construct from a single axis using a best-guess for the second axis
-        //  For the best-guess, the largest component value and sign of the
-        //  axis determines the direction orientation.
-        explicit axesRotation(const vector& axis);
+        //- Construct from a single axis (as e3) using a best-guess for the
+        //- second axis.
+        //  The largest component and its sign are used when guessing
+        //  an appropriate orientation (direction).
+        explicit axes(const vector& axis);
 
         //- Construct from dictionary
-        explicit axesRotation(const dictionary& dict);
-
-        //- Construct from dictionary and a registry (typically a mesh)
-        axesRotation
-        (
-            const dictionary& dict,
-            const objectRegistry& unused
-        );
+        explicit axes(const dictionary& dict);
 
         //- Return clone
         autoPtr<coordinateRotation> clone() const
         {
-            return autoPtr<coordinateRotation>::NewFrom<axesRotation>(*this);
+            return
+                autoPtr<coordinateRotation>::NewFrom
+                <coordinateRotations::axes>(*this);
         }
 
 
     //- Destructor
-    virtual ~axesRotation() = default;
-
-
-    // Member Functions
-
-        //- Reset rotation to an identity rotation
-        virtual void clear()
-        {
-            R_ = sphericalTensor::I;
-            Rtr_ = sphericalTensor::I;
-        }
+    virtual ~axes() = default;
 
 
     // Static Member Functions
 
         //- The rotation tensor calculated from two axes and their order.
         //  The input axes will be normalised.
+        //  If axis2 is zero, an axis orthogonal to axis1 will be guessed.
+        //  The largest component and its sign are used when guessing
+        //  an appropriate orientation (direction).
         static tensor rotation
         (
             const vector& axis1,
@@ -169,90 +168,29 @@ public:
         );
 
 
-        //- Update the rotation for a list of cells
-        virtual void updateCells(const polyMesh&, const labelList&)
-        {}
+    // Member Functions
 
-        //- Return local-to-global transformation tensor
-        virtual const tensor& R() const
-        {
-            return R_;
-        }
+        //- Reset specification
+        virtual void clear();
 
-        //- Return global-to-local transformation tensor
-        virtual const tensor& Rtr() const
-        {
-            return Rtr_;
-        }
+        //- The rotation tensor calculated from the specified axes and order
+        virtual tensor R() const;
 
-        //- Return local Cartesian x-axis in global coordinates
-        virtual const vector e1() const
-        {
-            return Rtr_.x();
-        }
-
-        //- Return local Cartesian y-axis in global coordinates
-        virtual const vector e2() const
-        {
-            return Rtr_.y();
-        }
-
-        //- Return local Cartesian z-axis in global coordinates
-        virtual const vector e3() const
-        {
-            return Rtr_.z();
-        }
-
-        //- Return transformation tensor field
-        virtual const tensorField& Tr() const;
-
-        //- Transform vectorField using transformation tensor field
-        virtual tmp<vectorField> transform(const vectorField& st) const;
-
-        //- Transform vector using transformation tensor
-        virtual vector transform(const vector& st) const;
-
-        //- Inverse transform vectorField using transformation tensor field
-        virtual tmp<vectorField> invTransform(const vectorField& st) const;
-
-        //- Inverse transform vector using transformation tensor
-        virtual vector invTransform(const vector& st) const;
-
-        //- Transform tensor field using transformation tensorField
-        virtual tmp<tensorField> transformTensor(const tensorField& st) const;
-
-        //- Transform tensor using transformation tensorField
-        virtual tensor transformTensor(const tensor& st) const;
-
-        //- Transform tensor sub-field using transformation tensorField
-        virtual tmp<tensorField> transformTensor
-        (
-            const tensorField& st,
-            const labelList& cellMap
-        ) const;
-
-        //- Transform vectorField using transformation tensorField and return
-        //  symmetric tensorField
-        virtual tmp<symmTensorField> transformVector
-        (
-            const vectorField& st
-        ) const;
-
-        //- Transform vector using transformation tensor and return
-        //  symmetric tensor
-        virtual symmTensor transformVector(const vector& st) const;
-
-
-    // Member Operators
-
-        //- Assign from dictionary
-        void operator=(const dictionary& dict);
+        //- Write information
+        virtual void write(Ostream& os) const;
 
+        //- Write dictionary entry
+        virtual void writeEntry(const word& keyword, Ostream& os) const;
 };
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
+} // End namespace coordinateRotations
+
+// Compatibility typedef 1806
+typedef coordinateRotations::axes axesRotation;
+
 } // End namespace Foam
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

src/meshTools/coordinate/rotation/axisAngleRotation.C

@@ -0,0 +1,167 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2018 OpenCFD Ltd.
+     \\/     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/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "axisAngleRotation.H"
+#include "dictionary.H"
+#include "quaternion.H"
+#include "unitConversion.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+    namespace coordinateRotations
+    {
+        defineTypeName(axisAngle);
+        addToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            axisAngle,
+            dictionary
+        );
+    }
+}
+
+
+// * * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * //
+
+void Foam::coordinateRotations::axisAngle::checkSpec()
+{
+    if (mag(angle_) < VSMALL || mag(axis_) < SMALL)
+    {
+        clear(); // identity rotation
+    }
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::coordinateRotations::axisAngle::axisAngle()
+:
+    coordinateRotation(),
+    axis_ (0,0,1),  // e3 = global Z
+    angle_(Zero),
+    degrees_(true)
+{}
+
+
+Foam::coordinateRotations::axisAngle::axisAngle(const axisAngle& crot)
+:
+    coordinateRotation(crot),
+    axis_(crot.axis_),
+    angle_(crot.angle_),
+    degrees_(crot.degrees_)
+{
+    checkSpec();
+}
+
+
+Foam::coordinateRotations::axisAngle::axisAngle(axisAngle&& crot)
+:
+    coordinateRotation(std::move(crot)),
+    axis_(std::move(crot.axis_)),
+    angle_(std::move(crot.angle_)),
+    degrees_(crot.degrees_)
+{
+    checkSpec();
+}
+
+
+Foam::coordinateRotations::axisAngle::axisAngle
+(
+    const vector& axis,
+    scalar angle,
+    bool degrees
+)
+:
+    coordinateRotation(),
+    axis_(axis),
+    angle_(angle),
+    degrees_(degrees)
+{
+    checkSpec();
+}
+
+
+Foam::coordinateRotations::axisAngle::axisAngle(const dictionary& dict)
+:
+    axisAngle
+    (
+        dict.get<vector>("axis"),
+        dict.get<scalar>("angle"),
+        dict.lookupOrDefault("degrees", true)
+    )
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::coordinateRotations::axisAngle::clear()
+{
+    axis_  = vector(0,0,1);  // e3 = global Z
+    angle_ = Zero;
+}
+
+
+Foam::tensor Foam::coordinateRotations::axisAngle::R() const
+{
+    if (mag(angle_) < VSMALL || mag(axis_) < SMALL)
+    {
+        return sphericalTensor::I; // identity rotation
+    }
+
+    return quaternion(axis_, (degrees_ ? degToRad(angle_) : angle_)).R();
+}
+
+
+void Foam::coordinateRotations::axisAngle::write(Ostream& os) const
+{
+    os  << "rotation axis: " << axis_
+        << " angle(" << (degrees_ ? "deg" : "rad") << "): " << angle_;
+}
+
+
+void Foam::coordinateRotations::axisAngle::writeEntry
+(
+    const word& keyword,
+    Ostream& os
+) const
+{
+    os.beginBlock(keyword);
+
+    os.writeEntry("type", type());
+    os.writeEntry("axis",  axis_);
+    os.writeEntry("angle", angle_);
+    if (!degrees_)
+    {
+        os.writeEntry("degrees", "false");
+    }
+
+    os.endBlock();
+}
+
+
+// ************************************************************************* //

src/meshTools/coordinate/rotation/axisAngleRotation.H

@@ -0,0 +1,156 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2018 OpenCFD Ltd.
+     \\/     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::coordinateRotations::axisAngle
+
+Description
+    A coordinateRotation specified by a rotation axis and a rotation angle
+    about that axis.
+
+    \verbatim
+    coordinateRotation
+    {
+        type        axisAngle;
+        axis        (1 0 0);
+        angle       90;
+    }
+    \endverbatim
+
+    \heading Dictionary entries
+    \table
+        Property    | Description                           | Required | Default
+        type        | Type name: axisAngle                  | yes   |
+        axis        | Axis of rotation (vector)             | yes   |
+        angle       | Rotation angle                        | yes   |
+        degrees     | The angle is in degrees               | no    | true
+    \endtable
+
+Note
+    The rotation axis will be normalized internally.
+
+SourceFiles
+    axisAngle.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef coordinateRotations_axisAngle_H
+#define coordinateRotations_axisAngle_H
+
+#include "coordinateRotation.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace coordinateRotations
+{
+
+/*---------------------------------------------------------------------------*\
+               Class coordinateRotations::axisAngle Declaration
+\*---------------------------------------------------------------------------*/
+
+class axisAngle
+:
+    public coordinateRotation
+{
+    // Private Data
+
+        //- The rotation axis
+        vector axis_;
+
+        //- The rotation angle
+        scalar angle_;
+
+        //- Angle measured in degrees
+        bool degrees_;
+
+
+    // Private Member Functions
+
+        //- Check specification for an identity rotation
+        void checkSpec();
+
+
+public:
+
+    //- Runtime type information
+    TypeNameNoDebug("axisAngle");
+
+    // Constructors
+
+        //- Construct null
+        axisAngle();
+
+        //- Copy construct
+        axisAngle(const axisAngle& crot);
+
+        //- Move construct
+        axisAngle(axisAngle&& crot);
+
+        //- Construct from axis and angle
+        axisAngle(const vector& axis, scalar angle, bool degrees);
+
+        //- Construct from dictionary
+        explicit axisAngle(const dictionary& dict);
+
+        //- Return clone
+        autoPtr<coordinateRotation> clone() const
+        {
+            return
+                autoPtr<coordinateRotation>::NewFrom
+                <coordinateRotations::axisAngle>(*this);
+        }
+
+
+    //- Destructor
+    virtual ~axisAngle() = default;
+
+
+    // Member Functions
+
+        //- Reset specification
+        virtual void clear();
+
+        //- Calculate and return the rotation tensor
+        //- calculated from axis and angle
+        virtual tensor R() const;
+
+        //- Write information
+        virtual void write(Ostream& os) const;
+
+        //- Write dictionary entry
+        virtual void writeEntry(const word& keyword, Ostream& os) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace coordinateRotations
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/meshTools/coordinate/rotation/coordinateRotation.C

@@ -31,9 +31,8 @@ License
 
 namespace Foam
 {
-    defineTypeNameAndDebug(coordinateRotation, 0);
+    defineTypeName(coordinateRotation);
     defineRunTimeSelectionTable(coordinateRotation, dictionary);
-    defineRunTimeSelectionTable(coordinateRotation, objectRegistry);
 }
 
 
@@ -64,46 +63,28 @@ Foam::vector Foam::coordinateRotation::findOrthogonal(const vector& axis)
 }
 
 
-Foam::symmTensor Foam::coordinateRotation::transformPrincipal
+// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
+
+Foam::autoPtr<Foam::coordinateRotation> Foam::coordinateRotation::New
 (
-    const tensor& tt,
-    const vector& v
+    const dictionary& dict
 )
 {
-    return symmTensor
-    (
-        tt.xx()*v.x()*tt.xx()
-      + tt.xy()*v.y()*tt.xy()
-      + tt.xz()*v.z()*tt.xz(),
+    const word modelType(dict.get<word>("type"));
 
-        tt.xx()*v.x()*tt.yx()
-      + tt.xy()*v.y()*tt.yy()
-      + tt.xz()*v.z()*tt.yz(),
+    auto cstrIter = dictionaryConstructorTablePtr_->cfind(modelType);
 
-        tt.xx()*v.x()*tt.zx()
-      + tt.xy()*v.y()*tt.zy()
-      + tt.xz()*v.z()*tt.zz(),
+    if (!cstrIter.found())
+    {
+        FatalIOErrorInFunction(dict)
+            << "Unknown coordinateRotation type "
+            << modelType << nl << nl
+            << "Valid types: "
+            << flatOutput(dictionaryConstructorTablePtr_->sortedToc())
+            << exit(FatalIOError);
+    }
 
-        tt.yx()*v.x()*tt.yx()
-      + tt.yy()*v.y()*tt.yy()
-      + tt.yz()*v.z()*tt.yz(),
-
-        tt.yx()*v.x()*tt.zx()
-      + tt.yy()*v.y()*tt.zy()
-      + tt.yz()*v.z()*tt.zz(),
-
-        tt.zx()*v.x()*tt.zx()
-      + tt.zy()*v.y()*tt.zy()
-      + tt.zz()*v.z()*tt.zz()
-    );
-}
-
-
-void Foam::coordinateRotation::write(Ostream& os) const
-{
-     os.writeEntry("e1", e1());
-     os.writeEntry("e2", e2());
-     os.writeEntry("e3", e3());
+    return autoPtr<coordinateRotation>(cstrIter()(dict));
 }
 
 

src/meshTools/coordinate/rotation/coordinateRotation.H

@@ -21,43 +21,47 @@ License
     You should have received a copy of the GNU General Public License
     along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
+Namespace
+    Foam::coordinateRotations
+
+Description
+    Namespace for coordinate system rotations.
+
 Class
     Foam::coordinateRotation
 
 Description
-    Abstract base class for coordinate rotation
+    User specification of a coordinate rotation.
 
     \verbatim
     coordinateRotation
     {
-        type        axesRotation
-        e1          (1 0 0);
-        e2          (0 1 0);
+        type    axes
+        e1      (1 0 0);
+        e2      (0 1 0);
     }
     \endverbatim
 
-    Types of coordinateRotation:
-      -# axesRotation
-      -# STARCDRotation
-      -# cylindrical
-      -# EulerCoordinateRotation
+    Types of coordinateRotations:
+      -# \link coordinateRotations::identity none \endlink
+      -# \link coordinateRotations::axes axes \endlink
+      -# \link coordinateRotations::axisAngle axisAngle \endlink
+      -# \link coordinateRotations::cylindrical cylindrical \endlink
+      -# \link coordinateRotations::euler euler \endlink
+      -# \link coordinateRotations::starcd starcd \endlink
 
 SourceFiles
     coordinateRotation.C
-    coordinateRotationNew.C
 
 \*---------------------------------------------------------------------------*/
 
 #ifndef coordinateRotation_H
 #define coordinateRotation_H
 
-#include "vector.H"
-#include "tensor.H"
+#include "vectorField.H"
 #include "tensorField.H"
 #include "dictionary.H"
 #include "runTimeSelectionTables.H"
-#include "objectRegistry.H"
-#include "polyMesh.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
@@ -65,17 +69,14 @@ namespace Foam
 {
 
 /*---------------------------------------------------------------------------*\
-                    Class coordinateRotation Declaration
+                     Class coordinateRotation Declaration
 \*---------------------------------------------------------------------------*/
 
 class coordinateRotation
 {
 protected:
 
-    // Protected member functions
-
-        //- Transform principal
-        static symmTensor transformPrincipal(const tensor&, const vector&);
+    // Protected Member Functions
 
         //- Determine best-guess for an orthogonal axis
         static vector findOrthogonal(const vector& axis);
@@ -84,25 +85,9 @@ protected:
 public:
 
     //- Runtime type information
-    TypeName("coordinateRotation");
+    TypeNameNoDebug("coordinateRotation");
 
-
-    // Declare run-time constructor selection table
-    // for constructors with dictionary and objectRegistry
-    declareRunTimeSelectionTable
-    (
-        autoPtr,
-        coordinateRotation,
-        objectRegistry,
-        (
-            const dictionary& dict, const objectRegistry& obr
-        ),
-        (dict, obr)
-    );
-
-
-    // Declare run-time constructor selection table
-    // for constructors with dictionary
+    // Declare run-time constructor selection table from dictionary
     declareRunTimeSelectionTable
     (
         autoPtr,
@@ -114,26 +99,19 @@ public:
         (dict)
     );
 
+
     // Constructors
 
+        // Uses all default constructors
+
         //- Construct and return a clone
         virtual autoPtr<coordinateRotation> clone() const = 0;
 
 
     // Selectors
 
-        //- Select constructed from dictionary and objectRegistry
-        static autoPtr<coordinateRotation> New
-        (
-            const dictionary& dict,
-            const objectRegistry& obr
-        );
-
         //- Select constructed from dictionary
-        static autoPtr<coordinateRotation> New
-        (
-            const dictionary& dict
-        );
+        static autoPtr<coordinateRotation> New(const dictionary& dict);
 
 
     //- Destructor
@@ -142,84 +120,20 @@ public:
 
     // Member Functions
 
-        //- Reset rotation to an identity rotation
+        //- Reset specification
         virtual void clear() = 0;
 
-        //- Update the rotation for a list of cells
-        virtual void updateCells
-        (
-            const polyMesh& mesh,
-            const labelList& cells
-        ) = 0;
-
-        //- Return local-to-global transformation tensor
-        virtual const tensor& R() const = 0;
-
-        //- Return global-to-local transformation tensor
-        virtual const tensor& Rtr() const = 0;
-
-        //- Return local Cartesian x-axis
-        virtual const vector e1() const = 0;
-
-        //- Return local Cartesian y-axis
-        virtual const vector e2() const = 0;
-
-        //- Return local Cartesian z-axis
-        virtual const vector e3() const = 0;
-
-        //- Return local-to-global transformation tensor
-        virtual const tensorField& Tr() const = 0;
-
-        //- Return true if the rotation tensor is uniform
-        virtual bool uniform() const
-        {
-            return true;
-        }
-
-        //- Transform vectorField using transformation tensor field
-        virtual tmp<vectorField> transform(const vectorField& st) const = 0;
-
-        //- Transform vector using transformation tensor
-        virtual vector transform(const vector& st) const = 0;
-
-        //- Inverse transform vectorField using transformation tensor field
-        virtual tmp<vectorField> invTransform(const vectorField& st) const = 0;
-
-        //- Inverse transform vector using transformation tensor
-        virtual vector invTransform(const vector& st) const = 0;
-
-        //- Transform tensor field using transformation tensorField
-        virtual tmp<tensorField> transformTensor
-        (
-            const tensorField& st
-        ) const = 0;
-
-        //- Transform tensor sub-field using transformation tensorField
-        virtual tmp<tensorField> transformTensor
-        (
-            const tensorField& st,
-            const labelList& cellMap
-        ) const = 0;
-
-        //- Transform tensor using transformation tensorField
-        virtual tensor transformTensor(const tensor& st) const = 0;
-
-        //- Transform vectorField using transformation tensorField and return
-        // symmetrical tensorField
-        virtual tmp<symmTensorField> transformVector
-        (
-            const vectorField& st
-        ) const = 0;
-
-        //- Transform vector using transformation tensor and return
-        // symmetrical tensor
-        virtual symmTensor transformVector(const vector& st) const = 0;
+        //- Calculate and return the rotation tensor
+        virtual tensor R() const = 0;
 
 
     // Write
 
-        //- Write coordinateRotation as e1,e2,e3 vectors
-        virtual void write(Ostream& os) const;
+        //- Write information
+        virtual void write(Ostream& os) const = 0;
+
+        //- Write dictionary entry
+        virtual void writeEntry(const word& keyword, Ostream& os) const = 0;
 
 };
 

src/meshTools/coordinate/rotation/coordinateRotationNew.C

@@ -1,76 +0,0 @@
-/*---------------------------------------------------------------------------*\
-  =========                 |
-  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
-   \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2017 OpenFOAM Foundation
-     \\/     M anipulation  | Copyright (C) 2017-2018 OpenCFD Ltd.
--------------------------------------------------------------------------------
-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/>.
-
-\*---------------------------------------------------------------------------*/
-
-#include "coordinateRotation.H"
-#include "objectRegistry.H"
-
-// * * * * * * * * * * * * * * * * Selectors * * * * * * * * * * * * * * * * //
-
-Foam::autoPtr<Foam::coordinateRotation> Foam::coordinateRotation::New
-(
-    const dictionary& dict,
-    const objectRegistry& obr
-)
-{
-    const word modelType(dict.get<word>("type"));
-
-    auto cstrIter = objectRegistryConstructorTablePtr_->cfind(modelType);
-
-    if (!cstrIter.found())
-    {
-        FatalIOErrorInFunction(dict)
-            << "Unknown coordinateRotation type " << modelType << nl << nl
-            << "Valid types:  "
-            << flatOutput(objectRegistryConstructorTablePtr_->sortedToc())
-            << exit(FatalIOError);
-    }
-
-    return autoPtr<coordinateRotation>(cstrIter()(dict, obr));
-}
-
-
-Foam::autoPtr<Foam::coordinateRotation> Foam::coordinateRotation::New
-(
-    const dictionary& dict
-)
-{
-    const word modelType(dict.get<word>("type"));
-
-    auto cstrIter = dictionaryConstructorTablePtr_->cfind(modelType);
-
-    if (!cstrIter.found())
-    {
-        FatalIOErrorInFunction(dict)
-            << "Unknown coordinateRotation type " << modelType << nl << nl
-            << "Valid types:  "
-            << flatOutput(dictionaryConstructorTablePtr_->sortedToc())
-            << exit(FatalIOError);
-    }
-
-    return autoPtr<coordinateRotation>(cstrIter()(dict));
-}
-
-
-// ************************************************************************* //

src/meshTools/coordinate/rotation/cylindrical.C

@@ -1,360 +0,0 @@
-/*---------------------------------------------------------------------------*\
-  =========                 |
-  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
-   \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2016 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/>.
-
-\*---------------------------------------------------------------------------*/
-
-#include "cylindrical.H"
-#include "axesRotation.H"
-#include "addToRunTimeSelectionTable.H"
-#include "polyMesh.H"
-#include "tensorIOField.H"
-
-// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
-
-namespace Foam
-{
-    defineTypeNameAndDebug(cylindrical, 0);
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        cylindrical,
-        dictionary
-    );
-    addToRunTimeSelectionTable
-    (
-        coordinateRotation,
-        cylindrical,
-        objectRegistry
-    );
-}
-
-
-// * * * * * * * * * * * * Private Member Functions  * * * * * * * * * * * * //
-
-void Foam::cylindrical::init
-(
-    const objectRegistry& obr,
-    const labelUList& cells
-)
-{
-    const polyMesh& mesh = refCast<const polyMesh>(obr);
-    const vectorField& cc = mesh.cellCentres();
-
-    if (cells.size())
-    {
-        Rptr_.reset(new tensorField(cells.size()));
-
-        tensorField& R = Rptr_();
-        forAll(cells, i)
-        {
-            const label celli = cells[i];
-            vector dir = cc[celli] - origin_;
-            dir /= mag(dir) + VSMALL;
-
-            R[i] = axesRotation(e3_, dir).R();
-        }
-    }
-    else
-    {
-        Rptr_.reset(new tensorField(mesh.nCells()));
-
-        tensorField& R = Rptr_();
-        forAll(cc, celli)
-        {
-            vector dir = cc[celli] - origin_;
-            dir /= mag(dir) + VSMALL;
-
-            R[celli] = axesRotation(e3_, dir).R();
-        }
-    }
-}
-
-
-// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
-
-Foam::cylindrical::cylindrical(const cylindrical& r)
-:
-    Rptr_(r.Rptr_.clone()),
-    origin_(r.origin_),
-    e3_(r.e3_)
-{}
-
-
-Foam::cylindrical::cylindrical(const tensorField& R)
-:
-    Rptr_(),
-    origin_(Zero),
-    e3_(Zero)
-{
-    Rptr_() = R;
-}
-
-
-Foam::cylindrical::cylindrical(const dictionary& dict)
-:
-    Rptr_(),
-    origin_(Zero),
-    e3_(Zero)
-{
-    FatalErrorInFunction
-        << " cylindrical can not be constructed from dictionary "
-        << " use the constructor : "
-           "("
-           "    const dictionary&, const objectRegistry&"
-           ")"
-        << exit(FatalIOError);
-}
-
-
-Foam::cylindrical::cylindrical
-(
-    const dictionary& dict,
-    const objectRegistry& obr
-)
-:
-    Rptr_(),
-    origin_(Zero),
-    e3_(Zero)
-{
-    // If origin is specified in the coordinateSystem
-    dict.parent().readIfPresent("origin", origin_);
-
-    // Rotation axis
-    dict.readEntry("e3", e3_);
-
-    init(obr);
-}
-
-
-Foam::cylindrical::cylindrical
-(
-    const objectRegistry& obr,
-    const vector& axis,
-    const point& origin
-)
-:
-    Rptr_(),
-    origin_(origin),
-    e3_(axis)
-{
-    init(obr);
-}
-
-
-Foam::cylindrical::cylindrical
-(
-    const objectRegistry& obr,
-    const vector& axis,
-    const point& origin,
-    const List<label>& cells
-)
-:
-    Rptr_(),
-    origin_(origin),
-    e3_(axis)
-{
-    init(obr, cells);
-}
-
-
-// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
-
-void Foam::cylindrical::clear()
-{
-    Rptr_.clear();
-}
-
-
-void Foam::cylindrical::updateCells
-(
-    const polyMesh& mesh,
-    const labelList& cells
-)
-{
-    const vectorField& cc = mesh.cellCentres();
-    tensorField& R = Rptr_();
-
-    forAll(cells, i)
-    {
-        const label celli = cells[i];
-        vector dir = cc[celli] - origin_;
-        dir /= mag(dir) + VSMALL;
-
-        R[celli] = axesRotation(e3_, dir).R();
-    }
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::cylindrical::transform
-(
-    const vectorField& vf
-) const
-{
-    if (Rptr_->size() != vf.size())
-    {
-        FatalErrorInFunction
-            << "vectorField st has different size to tensorField "
-            << abort(FatalError);
-    }
-
-    return (Rptr_() & vf);
-}
-
-
-Foam::vector Foam::cylindrical::transform(const vector& v) const
-{
-    NotImplemented;
-    return Zero;
-}
-
-
-Foam::vector Foam::cylindrical::transform
-(
-    const vector& v,
-    const label cmptI
-) const
-{
-    return (Rptr_()[cmptI] & v);
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::cylindrical::invTransform
-(
-    const vectorField& vf
-) const
-{
-    return (Rptr_().T() & vf);
-}
-
-
-Foam::vector Foam::cylindrical::invTransform(const vector& v) const
-{
-    NotImplemented;
-    return Zero;
-}
-
-
-Foam::vector Foam::cylindrical::invTransform
-(
-    const vector& v,
-    const label cmptI
-) const
-{
-    return (Rptr_()[cmptI].T() & v);
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::cylindrical::transformTensor
-(
-    const tensorField& tf
-) const
-{
-    if (Rptr_->size() != tf.size())
-    {
-        FatalErrorInFunction
-            << "tensorField st has different size to tensorField Tr"
-            << abort(FatalError);
-    }
-    return (Rptr_() & tf & Rptr_().T());
-}
-
-
-Foam::tensor Foam::cylindrical::transformTensor
-(
-    const tensor& t
-) const
-{
-    NotImplemented;
-
-    return Zero;
-}
-
-
-Foam::tmp<Foam::tensorField> Foam::cylindrical::transformTensor
-(
-    const tensorField& tf,
-    const labelList& cellMap
-) const
-{
-    if (cellMap.size() != tf.size())
-    {
-        FatalErrorInFunction
-            << "tensorField tf has different size to tensorField Tr"
-            << abort(FatalError);
-    }
-
-    const tensorField& R = Rptr_();
-    const tensorField Rtr(R.T());
-    tmp<tensorField> tt(new tensorField(cellMap.size()));
-    tensorField& t = tt.ref();
-    forAll(cellMap, i)
-    {
-        const label celli = cellMap[i];
-        t[i] = R[celli] & tf[i] & Rtr[celli];
-    }
-
-    return tt;
-}
-
-
-Foam::tmp<Foam::symmTensorField> Foam::cylindrical::transformVector
-(
-    const vectorField& vf
-) const
-{
-    if (Rptr_->size() != vf.size())
-    {
-        FatalErrorInFunction
-            << "tensorField vf has different size to tensorField Tr"
-            << abort(FatalError);
-    }
-
-    tmp<symmTensorField> tfld(new symmTensorField(Rptr_->size()));
-    symmTensorField& fld = tfld.ref();
-
-    const tensorField& R = Rptr_();
-    forAll(fld, i)
-    {
-        fld[i] = transformPrincipal(R[i], vf[i]);
-    }
-    return tfld;
-}
-
-
-Foam::symmTensor Foam::cylindrical::transformVector
-(
-    const vector& v
-) const
-{
-    NotImplemented;
-    return Zero;
-}
-
-
-void Foam::cylindrical::write(Ostream& os) const
-{
-     os.writeEntry("e3", e3());
-}
-
-
-// ************************************************************************* //

src/meshTools/coordinate/rotation/cylindrical.H

@@ -1,251 +0,0 @@
-/*---------------------------------------------------------------------------*\
-  =========                 |
-  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
-   \\    /   O peration     |
-    \\  /    A nd           | Copyright (C) 2011-2016 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::cylindrical
-
-Description
-    A local coordinate rotation.
-
-    The cell based rotational field can be created in two ways:
-      -# Each rotational tensor is defined with two vectors (\c dir and \c e3)
-         where <tt>dir =  cellC - origin</tt> and \c e3 is the rotation axis.
-          Per each cell an axesRotation type of rotation is created
-          (cylindrical coordinates). For example:
-          \verbatim
-          cylindrical
-          {
-              type        localAxes;
-              e3          (0 0 1);
-          }
-          \endverbatim
-
-      -# The rotational tensor field is provided at construction.
-
-SourceFiles
-    cylindrical.C
-
-\*---------------------------------------------------------------------------*/
-
-#ifndef cylindrical_H
-#define cylindrical_H
-
-#include "point.H"
-#include "vector.H"
-#include "ListOps.H"
-#include "coordinateRotation.H"
-
-// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
-
-namespace Foam
-{
-
-/*---------------------------------------------------------------------------*\
-                         Class cylindrical Declaration
-\*---------------------------------------------------------------------------*/
-
-class cylindrical
-:
-    public coordinateRotation
-{
-    // Private data
-
-        //- An autoPtr to the transformation tensor
-        autoPtr<tensorField> Rptr_;
-
-        //- Origin of the coordinate system
-        point origin_;
-
-        //- Rotation axis
-        vector e3_;
-
-
-    // Private members
-
-        //- Init transformation tensor field
-        void init
-        (
-            const objectRegistry& obr,
-            const labelUList& cells = Foam::emptyLabelList
-        );
-
-
-public:
-
-    //- Runtime type information
-    TypeName("cylindrical");
-
-    // Constructors
-
-        //- Construct as copy
-        cylindrical(const cylindrical& r);
-
-        //- Construct from tensor Field
-        explicit cylindrical(const tensorField& R);
-
-        //- Construct from dictionary - for API compatibility only
-        explicit cylindrical(const dictionary& dict);
-
-        //- Construct from dictionary and objectRegistry
-        cylindrical(const dictionary& dict, const objectRegistry& obr);
-
-        //- Construct from components for all cells
-        cylindrical
-        (
-            const objectRegistry& obr,
-            const vector& axis,
-            const point& origin
-        );
-
-        //- Construct from components for list of cells
-        cylindrical
-        (
-            const objectRegistry& obr,
-            const vector& axis,
-            const point& origin,
-            const List<label>& cells
-        );
-
-        //- Return clone
-        autoPtr<coordinateRotation> clone() const
-        {
-            return autoPtr<coordinateRotation>::NewFrom<cylindrical>(*this);
-        }
-
-
-    //- Destructor
-    virtual ~cylindrical() = default;
-
-
-    // Member Functions
-
-        //- Reset rotation to an identity rotation
-        virtual void clear();
-
-        //- Update the rotation for a list of cells
-        virtual void updateCells(const polyMesh& mesh, const labelList& cells);
-
-        //- Return local-to-global transformation tensor
-        virtual const tensor& R() const
-        {
-            NotImplemented;
-            return tensor::zero;
-        }
-
-        //- Return global-to-local transformation tensor
-        virtual const tensor& Rtr() const
-        {
-             NotImplemented;
-             return tensor::zero;
-        }
-
-        //- Return local Cartesian x-axis in global coordinates
-        virtual const vector e1() const
-        {
-            NotImplemented;
-            return vector::zero;
-        }
-
-        //- Return local Cartesian y-axis in global coordinates
-        virtual const vector e2() const
-        {
-            NotImplemented;
-            return vector::zero;
-        }
-
-        //- Return local Cartesian z-axis in global coordinates
-        virtual const vector e3() const
-        {
-            return e3_;
-        }
-
-        virtual const tensorField& Tr() const
-        {
-            return *Rptr_;
-        }
-
-        //- Transform vectorField using transformation tensor field
-        virtual tmp<vectorField> transform(const vectorField& tf) const;
-
-        //- Transform vector using transformation tensor
-        virtual vector transform(const vector& v) const;
-
-        //- Transform vector using transformation tensor for component
-        virtual vector transform(const vector& v, const label cmptI) const;
-
-        //- Inverse transform vectorField using transformation tensor field
-        virtual tmp<vectorField> invTransform(const vectorField& vf) const;
-
-        //- Inverse transform vector using transformation tensor
-        virtual vector invTransform(const vector& v) const;
-
-        //- Inverse transform vector using transformation tensor for component
-        virtual vector invTransform(const vector& v, const label cmptI) const;
-
-        //- Return if the rotation is uniform
-        virtual bool uniform() const
-        {
-            return false;
-        }
-
-        //- Transform tensor field using transformation tensorField
-        virtual tmp<tensorField> transformTensor(const tensorField& tf) const;
-
-        //- Transform tensor using transformation tensorField
-        virtual tensor transformTensor(const tensor& t) const;
-
-        //- Transform tensor sub-field using transformation tensorField
-        virtual tmp<tensorField> transformTensor
-        (
-            const tensorField& tf,
-            const labelList& cellMap
-        ) const;
-
-        //- Transform vectorField using transformation tensorField and return
-        // symmetrical tensorField
-        virtual tmp<symmTensorField> transformVector
-        (
-            const vectorField& vf
-        ) const;
-
-        //- Transform vector using transformation tensor and return
-        // symmetrical tensor (R & st & R.T())
-        virtual symmTensor transformVector(const vector& v) const;
-
-
-    // Write
-
-        //- Write
-        virtual void write(Ostream&) const;
-};
-
-
-// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
-
-} // End namespace Foam
-
-// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
-
-#endif
-
-// ************************************************************************* //

src/meshTools/coordinate/rotation/cylindricalRotation.C

@@ -0,0 +1,101 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2018 OpenCFD Ltd.
+     \\/     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/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "cylindricalRotation.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+    namespace coordinateRotations
+    {
+        defineTypeName(cylindrical);
+        addToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            cylindrical,
+            dictionary
+        );
+    }
+}
+
+
+// * * * * * * * * * * * * * Static Member Functions * * * * * * * * * * * * //
+
+Foam::tensor Foam::coordinateRotations::cylindrical::rotation
+(
+    const vector& axis
+)
+{
+    // Guess second axis
+    return axes::rotation(axis, Zero, E3_E1);
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::coordinateRotations::cylindrical::cylindrical(const cylindrical& crot)
+:
+    coordinateRotations::axes(crot)
+{}
+
+
+Foam::coordinateRotations::cylindrical::cylindrical(const vector& axis)
+:
+    coordinateRotations::axes(axis)  // Guess second axis
+{}
+
+
+Foam::coordinateRotations::cylindrical::cylindrical(const dictionary& dict)
+:
+    cylindrical(dict.getCompat<vector>("axis", {{"e3", -1806}}))
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::coordinateRotations::cylindrical::write(Ostream& os) const
+{
+    os << type() << " axis: " << axis1_;
+}
+
+
+void Foam::coordinateRotations::cylindrical::writeEntry
+(
+    const word& keyword,
+    Ostream& os
+) const
+{
+    os.beginBlock(keyword);
+
+    os.writeEntry("type", type());
+    os.writeEntry("axis", axis1_);
+
+    os.endBlock();
+}
+
+
+// ************************************************************************* //

src/meshTools/coordinate/rotation/cylindricalRotation.H

@@ -0,0 +1,122 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2011-2016 OpenFOAM Foundation
+     \\/     M anipulation  | Copyright (C) 2018 OpenCFD Ltd.
+-------------------------------------------------------------------------------
+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::coordinateRotations::cylindrical
+
+Description
+    A special purpose coordinateRotation that is generally for use in
+    combination with a cylindricalCS when only the orientation of the
+    local Z-axis is relevant.
+
+    \heading Dictionary entries
+    \table
+        Property    | Description                           | Required | Default
+        type        | Type name: cylindrical                | yes   |
+        axis        | The z-axis                            | yes   |
+        e3          | Alias for 'axis'                      | no    |
+    \endtable
+
+SourceFiles
+    cylindricalRotation.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef coordinateRotations_cylindrical_H
+#define coordinateRotations_cylindrical_H
+
+#include "axesRotation.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace coordinateRotations
+{
+
+/*---------------------------------------------------------------------------*\
+              Class coordinateRotations::cylindrical Declaration
+\*---------------------------------------------------------------------------*/
+
+class cylindrical
+:
+    public coordinateRotations::axes
+{
+public:
+
+    //- Runtime type information
+    TypeNameNoDebug("cylindrical");
+
+
+    // Constructors
+
+        //- Copy construct
+        cylindrical(const cylindrical& crot);
+
+        //- Construct from single axis (as e3) using best-guess for the
+        //- second axis.
+        explicit cylindrical(const vector& axis);
+
+        //- Construct from dictionary
+        explicit cylindrical(const dictionary& dict);
+
+        //- Return clone
+        autoPtr<coordinateRotation> clone() const
+        {
+            return
+                autoPtr<coordinateRotation>::NewFrom
+                <coordinateRotations::cylindrical>(*this);
+        }
+
+
+    //- Destructor
+    virtual ~cylindrical() = default;
+
+
+    // Static Member Functions
+
+        //- The rotation tensor calculated from axes and order.
+        //  The input axes will be normalised.
+        static tensor rotation(const vector& axis);
+
+
+    // Member Functions
+
+        //- Write information
+        virtual void write(Ostream& os) const;
+
+        //- Write dictionary entry
+        virtual void writeEntry(const word& keyword, Ostream& os) const;
+
+};
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace coordinateRotations
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/meshTools/coordinate/rotation/identityRotation.C

@@ -0,0 +1,99 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2018 OpenCFD Ltd.
+     \\/     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/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "identityRotation.H"
+#include "dictionary.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+    namespace coordinateRotations
+    {
+        defineTypeName(identity);
+        addToRunTimeSelectionTable
+        (
+            coordinateRotation,
+            identity,
+            dictionary
+        );
+    }
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::coordinateRotations::identity::identity()
+:
+    coordinateRotation()
+{}
+
+
+Foam::coordinateRotations::identity::identity(const identity&)
+:
+    identity()
+{}
+
+
+Foam::coordinateRotations::identity::identity(const dictionary&)
+:
+    identity()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::coordinateRotations::identity::clear()
+{}
+
+
+Foam::tensor Foam::coordinateRotations::identity::R() const
+{
+    return sphericalTensor::I;
+}
+
+
+void Foam::coordinateRotations::identity::write(Ostream& os) const
+{
+    os << "identity rotation";
+}
+
+
+void Foam::coordinateRotations::identity::writeEntry
+(
+    const word& keyword,
+    Ostream& os
+) const
+{
+    os.beginBlock(keyword);
+
+    os.writeEntry("type", type());
+
+    os.endBlock();
+}
+
+
+// ************************************************************************* //

src/meshTools/coordinate/rotation/identityRotation.H

@@ -0,0 +1,124 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2018 OpenCFD Ltd.
+     \\/     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::coordinateRotations::identity
+
+Description
+    An identity coordinateRotation.
+
+    \verbatim
+    coordinateRotation
+    {
+        type    none;
+    }
+    \endverbatim
+
+    \heading Dictionary entries
+    \table
+        Property    | Description                           | Required | Default
+        type        | Type name: none                       | yes      |
+    \endtable
+
+SourceFiles
+    identityRotation.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef coordinateRotations_identity_H
+#define coordinateRotations_identity_H
+
+#include "coordinateRotation.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace coordinateRotations
+{
+
+/*---------------------------------------------------------------------------*\
+                Class coordinateRotations::identity Declaration
+\*---------------------------------------------------------------------------*/
+
+class identity
+:
+    public coordinateRotation
+{
+public:
+
+    //- Runtime type information
+    TypeNameNoDebug("none");
+
+
+    // Constructors
+
+        //- Construct null
+        identity();
+
+        //- Copy construct
+        identity(const identity& unused);
+
+        //- Construct from dictionary
+        explicit identity(const dictionary& unused);
+
+        //- Return clone
+        autoPtr<coordinateRotation> clone() const
+        {
+            return
+                autoPtr<coordinateRotation>::NewFrom
+                <coordinateRotations::identity>(*this);
+        }
+
+
+    //- Destructor
+    virtual ~identity() = default;
+
+
+    // Member Functions
+
+        //- Reset specification (no-op)
+        virtual void clear();
+
+        //- Return an identity rotation tensor
+        virtual tensor R() const;
+
+        //- Write information
+        virtual void write(Ostream& os) const;
+
+        //- Write dictionary entry
+        virtual void writeEntry(const word& keyword, Ostream& os) const;
+
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace coordinateRotations
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //

src/meshTools/coordinate/systems/cartesianCS.C

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2014 OpenFOAM Foundation
-     \\/     M anipulation  |
+     \\/     M anipulation  | Copyright (C) 2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -24,59 +24,68 @@ License
 \*---------------------------------------------------------------------------*/
 
 #include "cartesianCS.H"
-
-#include "one.H"
-#include "mathematicalConstants.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
 
 namespace Foam
 {
-    defineTypeNameAndDebug(cartesianCS, 0);
-    addToRunTimeSelectionTable(coordinateSystem, cartesianCS, dictionary);
+namespace coordSystem
+{
+    defineTypeName(cartesian);
+    addToRunTimeSelectionTable(coordinateSystem, cartesian, dictionary);
+}
 }
 
 
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
-Foam::cartesianCS::cartesianCS()
+Foam::coordSystem::cartesian::cartesian()
 :
     coordinateSystem()
 {}
 
 
-Foam::cartesianCS::cartesianCS
-(
-    const coordinateSystem& cs
-)
+Foam::coordSystem::cartesian::cartesian(const coordinateSystem& csys)
 :
-    coordinateSystem(cs)
+    coordinateSystem(csys)
 {}
 
 
-Foam::cartesianCS::cartesianCS
-(
-    const word& name,
-    const coordinateSystem& cs
-)
+Foam::coordSystem::cartesian::cartesian(coordinateSystem&& csys)
 :
-    coordinateSystem(name, cs)
+    coordinateSystem(std::move(csys))
 {}
 
 
-Foam::cartesianCS::cartesianCS
+Foam::coordSystem::cartesian::cartesian(autoPtr<coordinateSystem>&& csys)
+:
+    coordinateSystem(std::move(csys))
+{}
+
+
+Foam::coordSystem::cartesian::cartesian
 (
-    const word& name,
     const point& origin,
-    const coordinateRotation& cr
+    const coordinateRotation& crot
 )
 :
-    coordinateSystem(name, origin, cr)
+    coordinateSystem(origin, crot)
 {}
 
 
-Foam::cartesianCS::cartesianCS
+Foam::coordSystem::cartesian::cartesian
+(
+    const point& origin,
+    const vector& axis,
+    const vector& dirn
+)
+:
+    coordinateSystem(origin, axis, dirn)
+{}
+
+
+Foam::coordSystem::cartesian::cartesian
 (
     const word& name,
     const point& origin,
@@ -88,7 +97,7 @@ Foam::cartesianCS::cartesianCS
 {}
 
 
-Foam::cartesianCS::cartesianCS
+Foam::coordSystem::cartesian::cartesian
 (
     const word& name,
     const dictionary& dict
@@ -98,63 +107,20 @@ Foam::cartesianCS::cartesianCS
 {}
 
 
-Foam::cartesianCS::cartesianCS
+Foam::coordSystem::cartesian::cartesian(const dictionary& dict)
+:
+    coordinateSystem(dict)
+{}
+
+
+Foam::coordSystem::cartesian::cartesian
 (
-    const objectRegistry& obr,
-    const dictionary& dict
+    const dictionary& dict,
+    const word& dictName
 )
 :
-    coordinateSystem(obr, dict)
+    coordinateSystem(dict, dictName)
 {}
 
 
-// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
-
-Foam::cartesianCS::~cartesianCS()
-{}
-
-
-// * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
-
-
-Foam::vector Foam::cartesianCS::localToGlobal
-(
-    const vector& local,
-    bool translate
-) const
-{
-    return coordinateSystem::localToGlobal(local, translate);
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::cartesianCS::localToGlobal
-(
-    const vectorField& local,
-    bool translate
-) const
-{
-    return coordinateSystem::localToGlobal(local, translate);
-}
-
-
-Foam::vector Foam::cartesianCS::globalToLocal
-(
-    const vector& global,
-    bool translate
-) const
-{
-    return coordinateSystem::globalToLocal(global, translate);
-}
-
-
-Foam::tmp<Foam::vectorField> Foam::cartesianCS::globalToLocal
-(
-    const vectorField& global,
-    bool translate
-) const
-{
-    return coordinateSystem::globalToLocal(global, translate);
-}
-
-
 // ************************************************************************* //

src/meshTools/coordinate/systems/cartesianCS.H

@@ -3,7 +3,7 @@
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     |
     \\  /    A nd           | Copyright (C) 2011-2013 OpenFOAM Foundation
-     \\/     M anipulation  |
+     \\/     M anipulation  | Copyright (C) 2018 OpenCFD Ltd.
 -------------------------------------------------------------------------------
 License
     This file is part of OpenFOAM.
@@ -22,10 +22,16 @@ License
     along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
 Class
-    Foam::cartesianCS
+    Foam::coordSystem::cartesian
 
 Description
-    Cartesian coordinate system
+    A Cartesian coordinate system
+
+    \heading Dictionary entries
+    \table
+        Property    | Description                           | Required | Default
+        type        | Type name: cartesian                  | yes   |
+    \endtable
 
 SourceFiles
     cartesianCS.C
@@ -36,85 +42,61 @@ SourceFiles
 #define cartesianCS_H
 
 #include "coordinateSystem.H"
-#include "typeInfo.H"
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 namespace Foam
 {
+namespace coordSystem
+{
 
 /*---------------------------------------------------------------------------*\
-                        Class cartesianCS Declaration
+                   Class coordSystem::cartesian Declaration
 \*---------------------------------------------------------------------------*/
 
-class cartesianCS
+class cartesian
 :
     public coordinateSystem
 {
-protected:
-
-    // Protected Member Functions
-
-
-        //- Convert from local coordinate system to the global Cartesian system
-        //  with optional translation for the origin
-        virtual vector localToGlobal(const vector&, bool translate) const;
-
-        //- Convert from local coordinate system to the global Cartesian system
-        //  with optional translation for the origin
-        virtual tmp<vectorField> localToGlobal
-        (
-            const vectorField&,
-            bool translate
-        ) const;
-
-        //- Convert from global Cartesian system to the local coordinate system
-        //  with optional translation for the origin
-        virtual vector globalToLocal(const vector&, bool translate) const;
-
-        //- Convert from global Cartesian system to the local coordinate system
-        //  with optional translation for the origin
-        virtual tmp<vectorField> globalToLocal
-        (
-            const vectorField&,
-            bool translate
-        ) const;
-
-
 public:
 
     //- Runtime type information
-    TypeName("cartesian");
+    TypeNameNoDebug("cartesian");
 
 
     // Constructors
 
-        //- Construct null
-        cartesianCS();
+        //- Construct null. This is an identity coordinateSystem.
+        cartesian();
 
-        //- Construct copy
-        cartesianCS
-        (
-            const coordinateSystem&
-        );
+        //- Copy construct
+        cartesian(const cartesian& csys) = default;
 
-        //- Construct copy with a different name
-        cartesianCS
-        (
-            const word& name,
-            const coordinateSystem&
-        );
+        //- Move construct
+        cartesian(cartesian&& csys) = default;
+
+        //- Copy construct from another coordinateSystem type
+        explicit cartesian(const coordinateSystem& csys);
+
+        //- Move construct from another coordinateSystem type
+        explicit cartesian(coordinateSystem&& csys);
+
+        //- Move construct from autoPtr of another coordinateSystem type
+        explicit cartesian(autoPtr<coordinateSystem>&& csys);
 
         //- Construct from origin and rotation
-        cartesianCS
+        cartesian(const point& origin, const coordinateRotation& crot);
+
+        //- Construct from origin and 2 axes
+        cartesian
         (
-            const word& name,
             const point& origin,
-            const coordinateRotation&
+            const vector& axis,
+            const vector& dirn
         );
 
         //- Construct from origin and 2 axes
-        cartesianCS
+        cartesian
         (
             const word& name,
             const point& origin,
@@ -122,24 +104,48 @@ public:
             const vector& dirn
         );
 
-        //- Construct from dictionary
-        cartesianCS(const word&, const dictionary&);
+        //- Construct from dictionary with a given name
+        cartesian(const word& name, const dictionary& dict);
 
+        //- Construct from dictionary without a name
+        explicit cartesian(const dictionary& dict);
 
-        //- Construct from dictionary and objectRegistry
-        cartesianCS(const objectRegistry&, const dictionary&);
+        //- Construct from dictionary with optional subDict lookup.
+        //
+        //  \param dictName If non-empty, the sub-dictionary to use.
+        cartesian(const dictionary& dict, const word& dictName);
 
 
     //- Destructor
-    virtual ~cartesianCS();
+    virtual ~cartesian() = default;
 
+
+    // Member Operators
+
+        //- Copy assignment
+        cartesian& operator=(const cartesian&) = default;
+
+        //- Move assignment
+        cartesian& operator=(cartesian&&) = default;
+
+        //- Copy/move assignment from coordinateSystem, autoPtr
+        using coordinateSystem::operator=;
 };
 
 
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
+} // End namespace coordSystem
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+//- Compatibility typedef 1806
+typedef coordSystem::cartesian cartesianCS;
+
+
 } // End namespace Foam
 
+
 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
 #endif

src/meshTools/coordinate/systems/coordinateSystem.C

@@ -23,10 +23,12 @@ License
 
 \*---------------------------------------------------------------------------*/
 
+#include "coordinateSystem.H"
+#include "cartesianCS.H"
 #include "IOstream.H"
 #include "axesRotation.H"
-#include "coordinateSystem.H"
-#include "coordinateSystems.H"
+#include "identityRotation.H"
+#include "transform.H"
 #include "addToRunTimeSelectionTable.H"
 
 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
@@ -35,47 +37,157 @@ namespace Foam
 {
     defineTypeNameAndDebug(coordinateSystem, 0);
     defineRunTimeSelectionTable(coordinateSystem, dictionary);
+    defineRunTimeSelectionTable(coordinateSystem, registry);
 }
 
+Foam::coordinateSystem Foam::coordinateSystem::dummy_(nullptr);
+
+
+// * * * * * * * * * * * * * * * Local Functions * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+    //- Is it cartesian?
+    //  For output, can treat the base class as Cartesian too,
+    //  since it defaults to cartesian on input.
+    static inline bool isCartesian(const word& modelType)
+    {
+        return
+        (
+            modelType == coordinateSystem::typeName_()
+         || modelType == coordSystem::cartesian::typeName_()
+        );
+    }
+
+} // End namespace Foam
+
+
+// * * * * * * * * * * * * Protected Member Functions  * * * * * * * * * * * //
+
+void Foam::coordinateSystem::assign(const dictionary& dict)
+{
+    dict.readEntry("origin", origin_);
+
+    note_.clear();
+    dict.readIfPresent("note", note_);
+
+    // Non-recursive, no pattern search for "rotation"
+    // or "coordinateRotation" (older) sub-dictionary.
+    // Don't warn about older naming for now (OCT-2018)
+
+    const auto finder = dict.csearchCompat
+    (
+        "rotation", {{"coordinateRotation", -1806}},
+        false, false
+    );
+
+    if (finder.isDict())
+    {
+        spec_ = coordinateRotation::New(finder.dict());
+    }
+    else
+    {
+        // Fall through to expecting e1/e2/e3 specification in the dictionary
+        spec_.reset(new coordinateRotations::axes(dict));
+    }
+
+    rot_ = spec_->R();
+}
+
+
 // * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
+Foam::coordinateSystem::coordinateSystem(std::nullptr_t)
+:
+    spec_(),
+    origin_(Zero),
+    rot_(sphericalTensor::I),
+    name_(),
+    note_()
+{}
+
+
 Foam::coordinateSystem::coordinateSystem()
 :
-    name_(),
-    note_(),
+    spec_(new coordinateRotations::identity()),
     origin_(Zero),
-    R_(new axesRotation(sphericalTensor::I))
+    rot_(sphericalTensor::I),
+    name_(),
+    note_()
 {}
 
 
-Foam::coordinateSystem::coordinateSystem(const coordinateSystem& cs)
+Foam::coordinateSystem::coordinateSystem(const coordinateRotation& crot)
 :
-    name_(cs.name_),
-    note_(cs.note_),
-    origin_(cs.origin_),
-    R_(cs.R_.clone())
+    coordinateSystem(word::null, point::zero, crot)
 {}
 
 
-Foam::coordinateSystem::coordinateSystem(coordinateSystem&& cs)
+Foam::coordinateSystem::coordinateSystem(coordinateRotation&& crot)
 :
-    name_(std::move(cs.name_)),
-    note_(std::move(cs.note_)),
-    origin_(std::move(cs.origin_)),
-    R_(std::move(cs.R_))
+    coordinateSystem(word::null, point::zero, std::move(crot))
 {}
 
 
+Foam::coordinateSystem::coordinateSystem(const coordinateSystem& csys)
+:
+    spec_(csys.spec_.clone()),
+    origin_(csys.origin_),
+    rot_(csys.rot_),
+    name_(csys.name_),
+    note_(csys.note_)
+{}
+
+
+Foam::coordinateSystem::coordinateSystem(coordinateSystem&& csys)
+:
+    spec_(std::move(csys.spec_)),
+    origin_(std::move(csys.origin_)),
+    rot_(std::move(csys.rot_)),
+    name_(std::move(csys.name_)),
+    note_(std::move(csys.note_))
+{}
+
+
+Foam::coordinateSystem::coordinateSystem(autoPtr<coordinateSystem>&& csys)
+:
+    coordinateSystem(nullptr)
+{
+    if (csys)
+    {
+        // Has valid autoPtr - move.
+        coordinateSystem::operator=(std::move(*csys));
+        csys.clear();
+    }
+    else
+    {
+        // No valid autoPtr - treat like identity
+        spec_.reset(new coordinateRotations::identity());
+    }
+}
+
+
 Foam::coordinateSystem::coordinateSystem
 (
     const word& name,
-    const coordinateSystem& cs
+    const coordinateSystem& csys
 )
 :
+    spec_(csys.spec_.clone()),
+    origin_(csys.origin_),
+    rot_(csys.rot_),
     name_(name),
-    note_(cs.note_),
-    origin_(cs.origin_),
-    R_(cs.R_.clone())
+    note_(csys.note_)
+{}
+
+
+Foam::coordinateSystem::coordinateSystem
+(
+    const point& origin,
+    const coordinateRotation& crot
+)
+:
+    coordinateSystem(word::null, origin, crot)
 {}
 
 
@@ -83,13 +195,25 @@ Foam::coordinateSystem::coordinateSystem
 (
     const word& name,
     const point& origin,
-    const coordinateRotation& cr
+    const coordinateRotation& crot
 )
 :
-    name_(name),
-    note_(),
+    spec_(crot.clone()),
     origin_(origin),
-    R_(cr.clone())
+    rot_(spec_->R()),
+    name_(name),
+    note_()
+{}
+
+
+Foam::coordinateSystem::coordinateSystem
+(
+    const point& origin,
+    const vector& axis,
+    const vector& dirn
+)
+:
+    coordinateSystem(word::null, origin, axis, dirn)
 {}
 
 
@@ -101,10 +225,11 @@ Foam::coordinateSystem::coordinateSystem
     const vector& dirn
 )
 :
-    name_(name),
-    note_(),
+    spec_(new coordinateRotations::axes(axis, dirn)),
     origin_(origin),
-    R_(new axesRotation(axis, dirn))
+    rot_(spec_->R()),
+    name_(name),
+    note_()
 {}
 
 
@@ -114,119 +239,91 @@ Foam::coordinateSystem::coordinateSystem
     const dictionary& dict
 )
 :
-    name_(name),
-    note_(),
+    spec_(nullptr),
     origin_(Zero),
-    R_()
+    rot_(sphericalTensor::I),
+    name_(name),
+    note_()
 {
-    init(dict);
+    assign(dict);
 }
 
 
 Foam::coordinateSystem::coordinateSystem(const dictionary& dict)
 :
-    name_(),
-    note_(),
-    origin_(Zero),
-    R_()
-{
-    init(dict);
-}
+    coordinateSystem(word::null, dict)
+{}
 
 
 Foam::coordinateSystem::coordinateSystem
 (
-    const objectRegistry& obr,
-    const dictionary& dict
+    const dictionary& dict,
+    const word& dictName
 )
 :
-    name_(),
-    note_(),
-    origin_(Zero),
-    R_()
+    coordinateSystem(nullptr)
 {
-    const entry* entryPtr = dict.lookupEntryPtr(typeName_(), false, false);
-
-    if (!entryPtr)
+    if (dictName.size())
     {
-        // No 'coordinateSystem' entry
-        init(dict, obr);
-    }
-    else if (entryPtr->isDict())
-    {
-        // 'coordinateSystem' as dictionary entry - use it
-        init(entryPtr->dict(), obr);
+        assign(dict.subDict(dictName));
     }
     else
     {
-        // 'coordinateSystem' as non-dictionary entry
-        // - this is a lookup into global coordinateSystems
-
-        keyType key(entryPtr->stream());
-
-        const coordinateSystems& lst = coordinateSystems::New(obr);
-        const label index = lst.findIndex(key);
-
-        if (debug)
-        {
-            InfoInFunction
-                << "Using global coordinate system: "
-                << key << "=" << index << endl;
-        }
-
-        if (index < 0)
-        {
-            FatalErrorInFunction
-                << "could not find coordinate system: " << key << nl
-                << "available coordinate systems: " << lst.toc() << nl << nl
-                << exit(FatalError);
-        }
-
-        // Copy from coordinateSystem, but assign the name as the typeName
-        // to avoid strange things in writeDict()
-        operator=(lst[index]);
-        name_ = typeName_();
+        assign(dict);
     }
 }
 
 
-Foam::coordinateSystem::coordinateSystem(Istream& is)
-:
-    name_(is),
-    note_(),
-    origin_(Zero),
-    R_()
-{
-    dictionary dict(is);
-    init(dict);
-}
-
-
 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
 
-Foam::dictionary Foam::coordinateSystem::dict(bool ignoreType) const
+void Foam::coordinateSystem::clear()
 {
-    dictionary dict;
+    spec_->clear();
+    origin_ = Zero;
+    rot_ = sphericalTensor::I;
+    note_.clear();
+}
 
-    dict.add("name", name_);
 
-    // Only write type for derived types
-    if (!ignoreType && type() != typeName_())
-    {
-        dict.add("type", type());
-    }
+Foam::tensor Foam::coordinateSystem::R(const point& global) const
+{
+    return rot_;
+}
 
-    // The note entry is optional
-    if (note_.size())
-    {
-        dict.add("note", note_);
-    }
 
-    dict.add("origin", origin_);
-    dict.add("e1", R_->e1());
-    dict.add("e3", R_->e3());
+Foam::tmp<Foam::tensorField> Foam::coordinateSystem::R
+(
+    const UList<point>& global
+) const
+{
+    return rotationsImpl(global);
+}
 
-    return dict;
+
+Foam::tmp<Foam::tensorField> Foam::coordinateSystem::R
+(
+    const pointUIndList& global
+) const
+{
+    return rotationsImpl(global);
+}
+
+
+Foam::point Foam::coordinateSystem::transformPoint
+(
+    const point& localCart
+) const
+{
+    return Foam::transform(rot_, localCart) + origin_;
+}
+
+
+Foam::point Foam::coordinateSystem::invTransformPoint
+(
+    const point& global
+) const
+{
+    return Foam::invTransform(rot_, global - origin_);
 }
 
 
@@ -238,10 +335,10 @@ Foam::vector Foam::coordinateSystem::localToGlobal
 {
     if (translate)
     {
-        return (R_->transform(local)) + origin_;
+        return this->transform(local) + origin_;
     }
 
-    return R_->transform(local);
+    return this->transform(local);
 }
 
 
@@ -253,10 +350,10 @@ Foam::tmp<Foam::vectorField> Foam::coordinateSystem::localToGlobal
 {
     if (translate)
     {
-        return (R_->transform(local)) + origin_;
+        return this->transform(local) + origin_;
     }
 
-    return R_->transform(local);
+    return this->transform(local);
 }
 
 
@@ -268,10 +365,10 @@ Foam::vector Foam::coordinateSystem::globalToLocal
 {
     if (translate)
     {
-        return R_->invTransform(global - origin_);
+        return this->invTransform(global - origin_);
     }
 
-    return R_->invTransform(global);
+    return this->invTransform(global);
 }
 
 
@@ -283,54 +380,74 @@ Foam::tmp<Foam::vectorField> Foam::coordinateSystem::globalToLocal
 {
     if (translate)
     {
-        return R_->invTransform(global - origin_);
+        return this->invTransform(global - origin_);
     }
 
-    return R_->invTransform(global);
+    return this->invTransform(global);
 }
 
 
-void Foam::coordinateSystem::clear()
+void Foam::coordinateSystem::rotation(autoPtr<coordinateRotation>&& crot)
 {
-    note_.clear();
-    origin_ = Zero;
-    R_->clear();
-}
-
-
-void Foam::coordinateSystem::transfer(coordinateSystem& cs)
-{
-    name_ = std::move(cs.name_);
-    note_ = std::move(cs.note_);
-    origin_ = std::move(cs.origin_);
-    R_ = std::move(cs.R_);
+    spec_.reset(std::move(crot));
+    if (spec_)
+    {
+        rot_ = spec_->R();
+    }
+    else
+    {
+        rot_ = sphericalTensor::I;
+    }
 }
 
 
 void Foam::coordinateSystem::write(Ostream& os) const
 {
-    os  << type() << " origin: " << origin() << nl;
-    R_->write(os);
+    if (!valid())
+    {
+        return;
+    }
+
+    // Suppress output of type for Cartesian
+    if (!isCartesian(type()))
+    {
+        os << type() << ' ';
+    }
+
+    os << "origin: " << origin_ << ' ';
+    spec_->write(os);
 }
 
 
-void Foam::coordinateSystem::writeDict(Ostream& os, bool subDict) const
+void Foam::coordinateSystem::writeEntry(const word& keyword, Ostream& os) const
 {
-    if (subDict)
+    if (!valid())
     {
-        os.beginBlock(name_);
+        return;
     }
 
-    os.writeEntry("type", type());
+    const bool subDict = !keyword.empty();
 
-    if (note_.size())
+    if (subDict)
     {
-        // The 'note' is optional
-        os.writeEntry("note", note_);
+        os.beginBlock(keyword);
+
+        // Suppress output of type for Cartesian
+        if (!isCartesian(type()))
+        {
+            os.writeEntry<word>("type", type());
+        }
+
+        if (note_.size())
+        {
+            // The 'note' is optional
+            os.writeEntry("note", note_);
+        }
     }
 
     os.writeEntry("origin", origin_);
-    R_->write(os);
+
+    spec_->writeEntry("rotation", os);
 
     if (subDict)
     {
@@ -341,71 +458,64 @@ void Foam::coordinateSystem::writeDict(Ostream& os, bool subDict) const
 
 // * * * * * * * * * * * * * * * Member Operators  * * * * * * * * * * * * * //
 
-void Foam::coordinateSystem::operator=(const coordinateSystem& cs)
+void Foam::coordinateSystem::operator=(const coordinateSystem& csys)
 {
-    name_ = cs.name_;
-    note_ = cs.note_;
-    origin_ = cs.origin_;
+    name_ = csys.name_;
+    note_ = csys.note_;
+    origin_ = csys.origin_;
 
     // Some extra safety
-    if (cs.R_.valid())
+    if (csys.spec_)
     {
-        R_ = cs.R_.clone();
+        rotation(csys.spec_.clone());
     }
     else
     {
-        R_.reset(new axesRotation(sphericalTensor::I));
+        spec_.reset(new coordinateRotations::identity());
+        rot_ = sphericalTensor::I;
     }
 }
 
-void Foam::coordinateSystem::operator=(coordinateSystem&& cs)
+
+void Foam::coordinateSystem::operator=(coordinateSystem&& csys)
 {
-    transfer(cs);
+    name_ = std::move(csys.name_);
+    note_ = std::move(csys.note_);
+    spec_ = std::move(csys.spec_);
+    origin_ = csys.origin_;
+    rot_ = csys.rot_;
 }
 
 
-void Foam::coordinateSystem::init(const dictionary& dict)
+void Foam::coordinateSystem::operator=(const autoPtr<coordinateSystem>& csys)
 {
-    dict.readEntry("origin", origin_);
-    note_.clear();
-    dict.readIfPresent("note", note_);
-    R_ = coordinateRotation::New(dict.subDict("coordinateRotation"));
+    coordinateSystem::operator=(*csys);
 }
 
 
-void Foam::coordinateSystem::init
-(
-    const dictionary& dict,
-    const objectRegistry& obr
-)
+void Foam::coordinateSystem::operator=(autoPtr<coordinateSystem>&& csys)
 {
-    dict.readEntry("origin", origin_);
-
-    // The 'note' entry is optional
-    note_.clear();
-    dict.readIfPresent("note", note_);
-    R_ = coordinateRotation::New(dict.subDict("coordinateRotation"), obr);
+    coordinateSystem::operator=(std::move(*csys));
+    csys.clear();
 }
 
 
-// * * * * * * * * * * * * * * * Friend Operators  * * * * * * * * * * * * * //
+// * * * * * * * * * * * * * * * Global Operators  * * * * * * * * * * * * * //
 
 bool Foam::operator!=(const coordinateSystem& a, const coordinateSystem& b)
 {
     return
     (
-        a.origin() != b.origin()
-     || a.type() != b.type()
-     || a.R().R() != b.R().R()
+        a.type() != b.type()
+     || a.origin() != b.origin()
+     || a.R() != b.R()
     );
 }
 
 
-// * * * * * * * * * * * * * * * Friend Functions  * * * * * * * * * * * * * //
-
-Foam::Ostream& Foam::operator<<(Ostream& os, const coordinateSystem& cs)
+Foam::Ostream& Foam::operator<<(Ostream& os, const coordinateSystem& csys)
 {
-    cs.write(os);
+    csys.write(os);
     os.check(FUNCTION_NAME);
     return os;
 }