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/*---------------------------------------------------------------------------*\
========= |
\\ / 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/>.
Application
Test-quaternion
Description
Test application for quaternions.
\*---------------------------------------------------------------------------*/
#include "quaternion.H"
#include "septernion.H"
#include "IOstreams.H"
using namespace Foam;
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
int main(int argc, char *argv[])
{
quaternion q(vector(1, 2, 3), 0.7853981);
Info<< "q " << q << endl;
vector v(0.1, 0.4, 2.1);
Info<< "v " << v << endl;
Info<< "inv(q)*q " << inv(q)*q << endl;
Info<< "q*quaternion(0, v)*conjugate(q) "
<< q*quaternion(0, v)*conjugate(q) << endl;
Info<< "q.R() " << q.R() << endl;
Info<< "q.transform(v) " << q.transform(v) << endl;
Info<< "q.R() & v " << (q.R() & v) << endl;
Info<< "quaternion(q.R()).transform(v) "
<< (quaternion(q.R()).transform(v)) << endl;
Info<< "q.invTransform(v) " << q.invTransform(v) << endl;
septernion tr(vector(0, 0.1, 0), q);
Info<< "tr " << tr << endl;
Info<< "inv(tr)*tr " << inv(tr)*tr << endl;
Info<< "tr.transform(v) " << tr.transformPoint(v) << endl;
vector origin(1, 2, 4);
Info<< "(septernion(-origin)*q*septernion(origin))"
<< ".transform(v) "
<< (septernion(-origin)*q*septernion(origin)).transformPoint(v)
<< " "
<< septernion(-origin)
.transformPoint(q.transform(septernion(origin).transformPoint(v)))
<< endl;
Info<< "Test conversion from and to Euler-angles" << endl;
vector angles(0.1, 0.2, 0.3);
for (int rs=quaternion::ZYX; rs<quaternion::XZX; ++rs)
{
if
(
mag
(
angles
- quaternion(quaternion::rotationSequence(rs), angles)
.eulerAngles(quaternion::rotationSequence(rs))
)
> SMALL
)
{
FatalErrorInFunction
<< "Inconsistent conversion for rotation sequence "
<< rs << exit(FatalError)
<< endl;
}
}
List<septernion> ss(3);
List<scalar> w(3);
ss[0] = septernion(vector(0, 0.1, 0), quaternion(0.7, vector(1, 2, 3)));
w[0] = 0.1;
ss[1] = septernion(vector(0, 0.2, 0), quaternion(-0.6, vector(-2, -1, -3)));
w[1] = 0.5;
ss[2] = septernion(vector(0, 0.3, 0), quaternion(0.3, vector(3, 2, 1)));
w[2] = 0.4;
Info<< "average(ss, w) " << average(ss, w) << endl;
Info<< "End\n" << endl;
return 0;
}
// ************************************************************************* //
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