Septernion class used to perform translations and rotations in 3D space. More...

Collaboration diagram for septernion:

Public Member Functions

 septernion ()
 Construct null. More...
 
 septernion (const vector &t, const quaternion &r)
 Construct given a translation vector and rotation quaternion. More...
 
 septernion (const vector &t)
 Construct a pure translation septernion given a translation vector. More...
 
 septernion (const quaternion &r)
 Construct a pure rotation septernion given a rotation quaternion. More...
 
 septernion (Istream &)
 Construct from Istream. More...
 
const vectort () const
 
const quaternionr () const
 
vectort ()
 
quaternionr ()
 
vector transform (const vector &v) const
 Transform the given vector. More...
 
vector invTransform (const vector &v) const
 Inverse Transform the given vector. More...
 
void operator= (const septernion &)
 
void operator*= (const septernion &)
 
void operator= (const vector &)
 
void operator+= (const vector &)
 
void operator-= (const vector &)
 
void operator= (const quaternion &)
 
void operator*= (const quaternion &)
 
void operator/= (const quaternion &)
 
void operator*= (const scalar)
 
void operator/= (const scalar)
 

Static Public Attributes

static const char *const typeName = "septernion"
 
static const septernion zero
 
static const septernion I
 

Friends

Istreamoperator>> (Istream &is, septernion &)
 
Ostreamoperator<< (Ostream &os, const septernion &C)
 

Detailed Description

Septernion class used to perform translations and rotations in 3D space.

It is composed of a translation vector and rotation quaternion and as such has seven components hence the name "septernion" from the Latin to be consistent with quaternion rather than "hepternion" derived from the Greek.

Source files

Definition at line 64 of file septernion.H.

Constructor & Destructor Documentation

septernion ( )
inline

Construct null.

Definition at line 28 of file septernionI.H.

septernion ( const vector t,
const quaternion r 
)
inline

Construct given a translation vector and rotation quaternion.

Definition at line 31 of file septernionI.H.

septernion ( const vector t)
inlineexplicit

Construct a pure translation septernion given a translation vector.

Definition at line 37 of file septernionI.H.

septernion ( const quaternion r)
inlineexplicit

Construct a pure rotation septernion given a rotation quaternion.

Definition at line 43 of file septernionI.H.

septernion ( Istream is)

Construct from Istream.

Definition at line 46 of file septernion.C.

Member Function Documentation

Foam::vector & t ( )
inline

Definition at line 64 of file septernionI.H.

Foam::quaternion & r ( )
inline

Definition at line 70 of file septernionI.H.

Foam::vector transform ( const vector v) const
inline

Transform the given vector.

Definition at line 76 of file septernionI.H.

Referenced by sixDoFRigidBodyMotion::transform().

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Foam::vector invTransform ( const vector v) const
inline

Inverse Transform the given vector.

Definition at line 82 of file septernionI.H.

void operator= ( const septernion tr)
inline

Definition at line 90 of file septernionI.H.

void operator*= ( const septernion tr)
inline

Definition at line 96 of file septernionI.H.

References septernion::r(), and septernion::t().

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void operator= ( const vector t)
inline

Definition at line 103 of file septernionI.H.

void operator+= ( const vector t)
inline

Definition at line 108 of file septernionI.H.

void operator-= ( const vector t)
inline

Definition at line 113 of file septernionI.H.

void operator= ( const quaternion r)
inline

Definition at line 119 of file septernionI.H.

void operator*= ( const quaternion r)
inline

Definition at line 124 of file septernionI.H.

void operator/= ( const quaternion r)
inline

Definition at line 129 of file septernionI.H.

void operator*= ( const scalar  s)
inline

Definition at line 135 of file septernionI.H.

References s().

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void operator/= ( const scalar  s)
inline

Definition at line 141 of file septernionI.H.

References s().

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Friends And Related Function Documentation

Istream& operator>> ( Istream is,
septernion  
)
friend
Ostream& operator<< ( Ostream os,
const septernion C 
)
friend

Member Data Documentation

const char *const typeName = "septernion"
static

Definition at line 79 of file septernion.H.

const Foam::septernion zero
static

Definition at line 81 of file septernion.H.

const Foam::septernion I
static

Definition at line 82 of file septernion.H.

Referenced by sixDoFRigidBodyMotion::transform().


The documentation for this class was generated from the following files: