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Additional functionality in finiteRotation

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This commit is contained in:
Vuko Vukcevic 2017-02-27 16:57:45 +01:00 committed by Hrvoje Jasak
parent b3118e18a4
commit b33681bd75
3 changed files with 66 additions and 17 deletions
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33
src/ODE/sixDOF/finiteRotation/finiteRotation.C
View file

@ -26,7 +26,8 @@ Class
Author
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
Update by Hrvoje Jasak
Hrvoje Jasak, FSB Zagreb. All rights reserved.
Vuko Vukcevic, FSB Zagreb. All rights reserved.
\*---------------------------------------------------------------------------*/
@ -82,9 +83,8 @@ Foam::vector Foam::finiteRotation::eulerAngles(const tensor& rotT)
// Calculate roll angle
rollAngle = atan2(rotT.yz(), rotT.zz());
// Use mag to avoid negative value due to round-off
// HJ, 24/Feb/2016
// Bugfix: sqr. SS, 18/Apr/2016
// Use mag to avoid negative value due to round-off, HJ, 24/Feb/2016
// Bugfix: missing sqr. SS, 18/Apr/2016
const scalar c2 = sqrt(sqr(rotT.xx()) + sqr(rotT.xy()));
// Calculate pitch angle
@ -122,6 +122,14 @@ Foam::finiteRotation::finiteRotation
{}
Foam::finiteRotation::finiteRotation(const tensor& R)
:
eInitial_(R),
rotTensor_(R),
rotIncrementTensor_(tensor::zero)
{}
// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
Foam::finiteRotation::~finiteRotation()
@ -130,12 +138,23 @@ Foam::finiteRotation::~finiteRotation()
// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
void Foam::finiteRotation::updateRotation(const tensor& R)
{
rotIncrementTensor_ = (R & rotTensor_.T());
rotTensor_ = R;
}
void Foam::finiteRotation::updateRotation(const HamiltonRodriguezRot& rot)
{
tensor rotR = rot.R();
updateRotation(rot.R());
}
rotIncrementTensor_ = (rotR & (rotTensor_.T()));
rotTensor_ = rotR;
void Foam::finiteRotation::updateRotationGivenIncrement(const tensor& incR)
{
rotIncrementTensor_ = incR;
rotTensor_ = (incR & rotTensor_);
}

14
src/ODE/sixDOF/finiteRotation/finiteRotation.H
View file

@ -26,7 +26,8 @@ Class
Author
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
Updated by Hrvoje Jasak
Hrvoje Jasak, FSB Zagreb. All rights reserved.
Vuko Vukcevic, FSB Zagreb. All rights reserved.
SourceFiles
finiteRotation.C
@ -89,6 +90,9 @@ public:
const scalar& angle
);
//- Construct from rotation tensor
explicit finiteRotation(const tensor& R);
// Destructor
@ -97,9 +101,15 @@ public:
// Member Functions
//- Update rotation
//- Update rotation given rotation tensor
void updateRotation(const tensor& R);
//- Update rotation given HamiltonRodriguezRot (quaternions)
void updateRotation(const HamiltonRodriguezRot& rot);
//- Update rotation given increment rotation tensor
void updateRotationGivenIncrement(const tensor& incR);
//- Return initial quaternions
const HamiltonRodriguezRot& eInitial() const;

36
src/ODE/sixDOF/quaternions/HamiltonRodriguezRot.H
View file

@ -26,7 +26,8 @@ Class
Author
Dubravko Matijasevic, FSB Zagreb. All rights reserved.
Updated by Hrvoje Jasak
Hrvoje Jasak, FSB Zagreb. All rights reserved.
Vuko Vukcevic, FSB Zagreb. All rights reserved.
Description
Rotation defined with 4 parameters: quaternions.
@ -66,13 +67,13 @@ class HamiltonRodriguezRot
scalarRectangularMatrix Gt_;
//- Inertial to rotated coordinate system transformation
mutable tensor R_;
tensor R_;
// Private member functions
//- Calculate R_ - inertial to body coord. sys. rotation
inline void calculateR() const
inline void calculateR()
{
R_.xx() = 2*(e1_*e1_ + e0_*e0_ - 0.5);
R_.xy() = 2*(e1_*e2_ + e0_*e3_);
@ -133,11 +134,7 @@ public:
}
//- Construct from rotation vector and angle
explicit HamiltonRodriguezRot
(
const vector& rVect,
const scalar& rAngle
)
HamiltonRodriguezRot(const vector& rVect, const scalar& rAngle)
:
Gt_(4, 3),
R_(tensor::zero)
@ -164,6 +161,29 @@ public:
calculateGt();
}
//- Construct from rotation tensor
explicit HamiltonRodriguezRot(const tensor& R)
:
Gt_(4, 3),
R_(R)
{
// Calculate Hamilton - Rodriguez (Euler) parameters from rotation
// matrix
// Note: sign of e0_ assumed positive
e0_ = Foam::sqrt((tr(R) + 1.0)/4.0);
// Helper variable
const scalar oneByFourEo = 1.0/(4.0*e0_);
e1_ = oneByFourEo*(R.zy() - R.yz());
e2_ = oneByFourEo*(R.xz() - R.zx());
e3_ = oneByFourEo*(R.yx() - R.xy());
// Calculate Gt
calculateGt();
}
// Destructor