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662f123ad8
Based on definitions in chapter 2 of the book:
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
This work is sponsored by Carnegie Wave Energy Ltd
177 lines
4.5 KiB
C++
177 lines
4.5 KiB
C++
/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Class
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Foam::SpatialTensor
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Description
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Templated 3D spatial tensor derived from MatrixSpace used to represent
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transformations of spatial vectors and the angular and linear inertia of
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rigid bodies.
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Reference:
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\verbatim
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Featherstone, R. (2008).
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Rigid body dynamics algorithms.
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Springer.
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\endverbatim
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SourceFiles
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SpatialTensorI.H
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SeeAlso
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Foam::MatrixSpace
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Foam::Tensor
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Foam::SpatialVector
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\*---------------------------------------------------------------------------*/
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#ifndef SpatialTensor_H
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#define SpatialTensor_H
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#include "Tensor.H"
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#include "SpatialVector.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class SpatialTensor Declaration
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\*---------------------------------------------------------------------------*/
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template<class Cmpt>
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class SpatialTensor
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:
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public MatrixSpace<SpatialTensor<Cmpt>, Cmpt, 6, 6>
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{
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public:
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// Member constants
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//- Rank of Tensor is 2
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static const direction rank = 2;
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// Static data members
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//- Identity matrix for square matrices
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static const SpatialTensor I;
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// Constructors
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//- Construct null
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inline SpatialTensor();
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//- Construct initialized to zero
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inline explicit SpatialTensor(const Foam::zero);
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//- Construct given MatrixSpace of the same rank
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inline SpatialTensor(const typename SpatialTensor::msType&);
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//- Construct given 36 components
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inline SpatialTensor
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(
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const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
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const Cmpt& t03, const Cmpt& t04, const Cmpt& t05,
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const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
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const Cmpt& t13, const Cmpt& t14, const Cmpt& t15,
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const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
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const Cmpt& t23, const Cmpt& t24, const Cmpt& t25,
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const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
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const Cmpt& t33, const Cmpt& t34, const Cmpt& t35,
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const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
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const Cmpt& t43, const Cmpt& t44, const Cmpt& t45,
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const Cmpt& t50, const Cmpt& t51, const Cmpt& t52,
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const Cmpt& t53, const Cmpt& t54, const Cmpt& t55
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);
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//- Construct from Istream
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inline SpatialTensor(Istream&);
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// Member Operators
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inline void operator=(const Foam::zero);
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};
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template<class Cmpt>
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class typeOfTranspose<Cmpt, SpatialTensor<Cmpt>>
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{
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public:
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typedef SpatialTensor<Cmpt> type;
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};
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template<class Cmpt>
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class typeOfOuterProduct<Cmpt, SpatialVector<Cmpt>, SpatialVector<Cmpt>>
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{
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public:
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typedef SpatialTensor<Cmpt> type;
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};
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template<class Cmpt>
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class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialVector<Cmpt>>
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{
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public:
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typedef SpatialVector<Cmpt> type;
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};
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template<class Cmpt>
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class typeOfInnerProduct<Cmpt, SpatialTensor<Cmpt>, SpatialTensor<Cmpt>>
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{
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public:
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typedef SpatialTensor<Cmpt> type;
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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// Include inline implementations
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#include "SpatialTensorI.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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