Templated 3D spatial tensor derived from MatrixSpace used to represent transformations of spatial vectors and the angular and linear inertia of rigid bodies. More...
Public Member Functions | |
SpatialTensor ()=default | |
Default Construct. More... | |
SpatialTensor (const Foam::zero) | |
Construct initialized to zero. More... | |
SpatialTensor (const typename SpatialTensor::msType &) | |
Construct given MatrixSpace of the same rank. More... | |
SpatialTensor (const Tensor< Cmpt > &t00, const Tensor< Cmpt > &t01, const Tensor< Cmpt > &t10, const Tensor< Cmpt > &t11) | |
Construct given 4 tensor blocks. More... | |
SpatialTensor (const Cmpt &t00, const Cmpt &t01, const Cmpt &t02, const Cmpt &t03, const Cmpt &t04, const Cmpt &t05, const Cmpt &t10, const Cmpt &t11, const Cmpt &t12, const Cmpt &t13, const Cmpt &t14, const Cmpt &t15, const Cmpt &t20, const Cmpt &t21, const Cmpt &t22, const Cmpt &t23, const Cmpt &t24, const Cmpt &t25, const Cmpt &t30, const Cmpt &t31, const Cmpt &t32, const Cmpt &t33, const Cmpt &t34, const Cmpt &t35, const Cmpt &t40, const Cmpt &t41, const Cmpt &t42, const Cmpt &t43, const Cmpt &t44, const Cmpt &t45, const Cmpt &t50, const Cmpt &t51, const Cmpt &t52, const Cmpt &t53, const Cmpt &t54, const Cmpt &t55) | |
Construct given 36 components. More... | |
SpatialTensor (Istream &) | |
Construct from Istream. More... | |
Public Member Functions inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 > | |
MatrixSpace ()=default | |
Default construct. More... | |
MatrixSpace (const Foam::zero) | |
Construct initialized to zero. More... | |
MatrixSpace (const VectorSpace< Form2, Cmpt2, Mrows *Ncols > &) | |
Construct as copy of a VectorSpace with the same size. More... | |
MatrixSpace (const Block2< SpatialTensor< Cmpt >, BRowStart, BColStart > &block) | |
Construct from a block of another matrix space. More... | |
MatrixSpace (Istream &is) | |
Construct from Istream. More... | |
const Cmpt & | elmt () const noexcept |
Fast const element access using compile-time addressing. More... | |
Cmpt & | elmt () noexcept |
Fast element access using compile-time addressing. More... | |
const Cmpt & | xx () const noexcept |
Cmpt & | xx () noexcept |
const Cmpt & | xy () const noexcept |
Cmpt & | xy () noexcept |
const Cmpt & | xz () const noexcept |
Cmpt & | xz () noexcept |
const Cmpt & | yx () const noexcept |
Cmpt & | yx () noexcept |
const Cmpt & | yy () const noexcept |
Cmpt & | yy () noexcept |
const Cmpt & | yz () const noexcept |
Cmpt & | yz () noexcept |
const Cmpt & | zx () const noexcept |
Cmpt & | zx () noexcept |
const Cmpt & | zy () const noexcept |
Cmpt & | zy () noexcept |
const Cmpt & | zz () const noexcept |
Cmpt & | zz () noexcept |
typeOfTranspose< Cmpt, SpatialTensor< Cmpt > >::type | T () const |
Return the transpose of the matrix. More... | |
ConstBlock< SubTensor, BRowStart, BColStart > | block () const |
Return a const sub-block corresponding to the specified type. More... | |
Block< SubTensor, BRowStart, BColStart > | block () |
Return a sub-block corresponding to the specified type. More... | |
Foam::MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Mrows, Ncols >::template ConstBlock< SubTensor, BRowStart, BColStart > | block () const |
Foam::MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Mrows, Ncols >::template Block< SubTensor, BRowStart, BColStart > | block () |
const Cmpt & | operator() (const direction &i, const direction &j) const |
(i, j) const element access operator More... | |
Cmpt & | operator() (const direction &i, const direction &j) |
(i, j) element access operator More... | |
void | operator= (const Foam::zero) |
Assignment to zero. More... | |
void | operator= (const Block2< SpatialTensor< Cmpt >, BRowStart, BColStart > &block) |
Assignment to a block of another matrix space. More... | |
void | operator&= (const MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Ncols, Ncols > &matrix) |
Inner product with a compatible square matrix. More... | |
Public Member Functions inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols > | |
VectorSpace ()=default | |
Default construct. More... | |
VectorSpace (const Foam::zero) | |
Construct initialized to zero. More... | |
VectorSpace (const VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > &vs) | |
Copy construct. More... | |
VectorSpace (const VectorSpace< Form2, Cmpt2, Ncmpts > &) | |
Copy construct of a VectorSpace with the same size. More... | |
VectorSpace (Istream &is) | |
Construct from Istream. More... | |
const Cmpt & | component (const direction) const |
Cmpt & | component (const direction) |
void | component (Cmpt &, const direction) const |
void | replace (const direction, const Cmpt &) |
const Cmpt * | cdata () const noexcept |
Return const pointer to the first data element. More... | |
Cmpt * | data () noexcept |
Return pointer to the first data element. More... | |
const ConstBlock< SubVector, BStart > | block () const |
const Foam::VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts >::template ConstBlock< SubVector, BStart > | block () const |
const Cmpt & | operator[] (const direction) const |
Cmpt & | operator[] (const direction) |
void | operator= (const VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > &) |
void | operator= (const Foam::zero) |
void | operator+= (const VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > &) |
void | operator-= (const VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > &) |
void | operator*= (const scalar) |
void | operator/= (const scalar) |
iterator | begin () noexcept |
Return an iterator to begin of VectorSpace. More... | |
const_iterator | begin () const noexcept |
Return const_iterator to begin of VectorSpace. More... | |
iterator | end () noexcept |
Return an iterator to end of VectorSpace. More... | |
const_iterator | end () const noexcept |
Return const_iterator to end of VectorSpace. More... | |
const_iterator | cbegin () const noexcept |
Return const_iterator to begin of VectorSpace. More... | |
const_iterator | cend () const noexcept |
Return const_iterator to end of VectorSpace. More... | |
Static Public Attributes | |
static constexpr direction | rank = 2 |
Rank of Tensor is 2. More... | |
static const SpatialTensor | I |
Identity matrix for square matrices. More... | |
Static Public Attributes inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 > | |
static constexpr direction | mRows |
static constexpr direction | nCols |
Static Public Attributes inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols > | |
static constexpr direction | dim |
Dimensionality of space. More... | |
static constexpr direction | nComponents |
Number of components in this vector space. More... | |
static constexpr direction | mRows |
static constexpr direction | nCols |
static const char *const | typeName |
static const char *const | componentNames [] |
static const SpatialTensor< Cmpt > | zero |
static const SpatialTensor< Cmpt > | one |
static const SpatialTensor< Cmpt > | max |
static const SpatialTensor< Cmpt > | min |
static const SpatialTensor< Cmpt > | rootMax |
static const SpatialTensor< Cmpt > | rootMin |
Additional Inherited Members | |
Public Types inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 > | |
typedef MatrixSpace< SpatialTensor< Cmpt >, Cmpt, Mrows, Ncols > | msType |
MatrixSpace type. More... | |
Public Types inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols > | |
typedef VectorSpace< SpatialTensor< Cmpt >, Cmpt, Ncmpts > | vsType |
VectorSpace type. More... | |
typedef Cmpt | cmptType |
Component type. More... | |
typedef Cmpt | magType |
Magnitude type. More... | |
typedef Cmpt * | iterator |
Random access iterator for traversing VectorSpace. More... | |
typedef const Cmpt * | const_iterator |
Random access iterator for traversing VectorSpace. More... | |
Static Public Member Functions inherited from MatrixSpace< SpatialTensor< Cmpt >, Cmpt, 6, 6 > | |
static direction | m () noexcept |
The number of rows. More... | |
static direction | n () noexcept |
The number of columns. More... | |
static msType | identity () |
An identity matrix for square matrix-spaces. More... | |
Static Public Member Functions inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols > | |
static constexpr direction | size () noexcept |
The number of elements in the VectorSpace = Ncmpts. More... | |
static SpatialTensor< Cmpt > | uniform (const Cmpt &s) |
Return a VectorSpace with all elements = s. More... | |
Public Attributes inherited from VectorSpace< SpatialTensor< Cmpt >, Cmpt, Mrows *Ncols > | |
Cmpt | v_ [Ncmpts] |
The components of this vector space. More... | |
Templated 3D spatial tensor derived from MatrixSpace used to represent transformations of spatial vectors and the angular and linear inertia of rigid bodies.
Featherstone, R. (2008). Rigid body dynamics algorithms. Springer.
Definition at line 63 of file SpatialTensor.H.
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default |
Default Construct.
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inline |
Construct initialized to zero.
Definition at line 26 of file SpatialTensorI.H.
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inline |
Construct given MatrixSpace of the same rank.
Definition at line 34 of file SpatialTensorI.H.
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inline |
Construct given 4 tensor blocks.
Definition at line 44 of file SpatialTensorI.H.
References Tensor< Cmpt >::xx(), Tensor< Cmpt >::xy(), Tensor< Cmpt >::xz(), Tensor< Cmpt >::yx(), Tensor< Cmpt >::yy(), Tensor< Cmpt >::yz(), Tensor< Cmpt >::zx(), Tensor< Cmpt >::zy(), and Tensor< Cmpt >::zz().
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inline |
Construct given 36 components.
Definition at line 73 of file SpatialTensorI.H.
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inlineexplicit |
Construct from Istream.
Definition at line 120 of file SpatialTensorI.H.
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static |
Rank of Tensor is 2.
Definition at line 75 of file SpatialTensor.H.
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static |
Identity matrix for square matrices.
Definition at line 83 of file SpatialTensor.H.