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ENH: support all 12 Euler rotation orders (#1292)

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- adjust naming of quaternion 'rotationSequence' to be 'eulerOrder'
  to reflect its purpose.

- provide rotation matrices directly for these rotation orders in
  coordinateRotations::euler for case in which the rotation tensor
  is required but not a quaternion.
This commit is contained in:
Mark Olesen
2019-05-10 11:20:21 +02:00
parent d3d0e08e35
commit d9d5a87259
13 changed files with 500 additions and 130 deletions
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86
applications/test/quaternion/Test-quaternion.C
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@ -68,6 +68,21 @@ void printRotation(const quaternion& quat)
}
bool equalTensors(const tensor& rot1, const tensor& rot2)
{
for (direction cmpt=0; cmpt < tensor::nComponents; ++cmpt)
{
// Cannot be really picky, but SMALL is reasonable
if (mag(rot1[cmpt] - rot2[cmpt]) > SMALL)
{
return false;
}
}
return true;
}
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
int main(int argc, char *argv[])
@ -108,8 +123,17 @@ int main(int argc, char *argv[])
"(vector angle)",
"Rotate about the <vector> by <angle> degrees - eg, '((1 0 0) 45)'"
);
argList::addBoolOption
(
"verbose",
"Additional verbosity"
);
argList args(argc, argv);
const bool verbose = args.found("verbose");
vector rotVector;
if (args.readIfPresent("rollPitchYaw", rotVector))
@ -122,10 +146,18 @@ int main(int argc, char *argv[])
rotVector *= degToRad();
const quaternion quat(quaternion::rotationSequence::XYZ, rotVector);
const quaternion quat(quaternion::eulerOrder::XYZ, rotVector);
printRotation(quat);
// Euler
const tensor rot
(
euler::rotation(euler::eulerOrder::XYZ, rotVector, false)
);
printRotation(rot);
}
if (args.readIfPresent("yawPitchRoll", rotVector))
{
Info<< nl
@ -136,9 +168,16 @@ int main(int argc, char *argv[])
rotVector *= degToRad();
const quaternion quat(quaternion::rotationSequence::ZYX, rotVector);
const quaternion quat(quaternion::eulerOrder::ZYX, rotVector);
printRotation(quat);
// Euler
const tensor rot
(
euler::rotation(euler::eulerOrder::ZYX, rotVector, false)
);
printRotation(rot);
}
if (args.readIfPresent("euler", rotVector))
{
@ -152,7 +191,7 @@ int main(int argc, char *argv[])
rotVector *= degToRad();
const quaternion quat(quaternion::rotationSequence::ZXZ, rotVector);
const quaternion quat(quaternion::eulerOrder::ZXZ, rotVector);
printRotation(quat);
}
@ -266,23 +305,44 @@ int main(int argc, char *argv[])
Info<< "Test conversion from and to Euler-angles" << nl;
vector angles(0.1, 0.2, 0.3);
for (int rs=quaternion::ZYX; rs<quaternion::XZX; ++rs)
for (int rs : quaternion::eulerOrderNames.values())
{
const quaternion::eulerOrder order = quaternion::eulerOrder(rs);
const word& orderName = quaternion::eulerOrderNames[order];
if
(
mag
(
angles
- quaternion(quaternion::rotationSequence(rs), angles)
.eulerAngles(quaternion::rotationSequence(rs))
)
mag(angles - quaternion(order, angles).eulerAngles(order))
> SMALL
)
{
FatalErrorInFunction
<< "Inconsistent conversion for rotation sequence "
<< rs << exit(FatalError)
<< nl;
<< "Inconsistent conversion for euler rotation order "
<< orderName << nl << exit(FatalError);
}
tensor rotQ(quaternion(order, angles).R());
tensor rotE(euler::rotation(order, angles, false));
if (verbose)
{
Info<< "euler " << orderName << angles << nl;
printRotation(rotE);
}
if (!equalTensors(rotQ, rotE))
{
WarningInFunction
<< "Inconsistent quaternion/euler rotation matrices for "
<< orderName << nl;
printRotation(rotQ);
printRotation(rotE);
FatalError
<< nl << exit(FatalError);
}
}