src/ODE/sixDOF/sixDOFqODE/sixDOFqODEI.H

   1 /*---------------------------------------------------------------------------*\
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   7 -------------------------------------------------------------------------------
   8 License
   9     This file is part of OpenFOAM.
  10
  11     OpenFOAM is free software; you can redistribute it and/or modify it
  12     under the terms of the GNU General Public License as published by the
  13     Free Software Foundation; either version 2 of the License, or (at your
  14     option) any later version.
  15
  16     OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
  17     ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
  18     FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
  19     for more details.
  20
  21     You should have received a copy of the GNU General Public License
  22     along with OpenFOAM; if not, write to the Free Software Foundation,
  23     Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
  24
  25 Description
  26     6-DOF solver using quaternions
  27
  28 Author
  29     Dubravko Matijasevic, FSB Zagreb.  All rights reserved.
  30     Updates by Hrvoje Jasak, Wikki Ltd.
  31
  32 \*---------------------------------------------------------------------------*/
  33
  34 #include "finiteRotation.H"
  35
  36 // * * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * //
  37
  38 const Foam::dimensionedScalar& Foam::sixDOFqODE::mass() const
  39 {
  40     return mass_;
  41 }
  42
  43
  44 const Foam::dimensionedDiagTensor& Foam::sixDOFqODE::momentOfInertia() const
  45 {
  46     return momentOfInertia_;
  47 }
  48
  49
  50 const Foam::dimensionedVector& Foam::sixDOFqODE::Xequilibrium() const
  51 {
  52     return Xequilibrium_;
  53 }
  54
  55
  56 const Foam::dimensionedVector& Foam::sixDOFqODE::Xrel() const
  57 {
  58     return Xrel_;
  59 }
  60
  61
  62 const Foam::dimensionedVector& Foam::sixDOFqODE::omega() const
  63 {
  64     return omega_;
  65 }
  66
  67
  68 Foam::dimensionedVector Foam::sixDOFqODE::omegaDot() const
  69 {
  70     return OmegaDot(rotation_.eCurrent(), omega_);
  71 }
  72
  73
  74 Foam::dimensionedVector Foam::sixDOFqODE::X() const
  75 {
  76     return Xequilibrium_ + Xrel_;
  77 }
  78
  79
  80 const Foam::dimensionedVector& Foam::sixDOFqODE::U() const
  81 {
  82     return U_;
  83 }
  84
  85
  86 Foam::dimensionedVector Foam::sixDOFqODE::A() const
  87 {
  88     return A(Xrel_, U_, rotation_.eCurrent());
  89 }
  90
  91
  92 Foam::vector Foam::sixDOFqODE::rotVector() const
  93 {
  94     return rotation_.rotVector();
  95 }
  96
  97
  98 Foam::dimensionedScalar Foam::sixDOFqODE::rotAngle() const
  99 {
 100     return dimensionedScalar("rotAngle", dimless, rotation_.rotAngle());
 101 }
 102
 103
 104 Foam::dimensionedVector& Foam::sixDOFqODE::U()
 105 {
 106     return U_;
 107 }
 108
 109
 110 Foam::dimensionedVector& Foam::sixDOFqODE::omega()
 111 {
 112     return omega_;
 113 }
 114
 115
 116 const Foam::dimensionedVector& Foam::sixDOFqODE::Uaverage() const
 117 {
 118     return Uaverage_;
 119 }
 120
 121
 122 Foam::vector Foam::sixDOFqODE::rotVectorAverage() const
 123 {
 124     return rotation_.rotVectorAverage();
 125 }
 126
 127
 128 const Foam::dimensionedVector& Foam::sixDOFqODE::omegaAverage() const
 129 {
 130     return omegaAverage_;
 131 }
 132
 133
 134 const Foam::dimensionedVector& Foam::sixDOFqODE::omegaAverageAbsolute() const
 135 {
 136     return omegaAverageAbsolute_;
 137 }
 138
 139
 140 const Foam::dimensionedVector& Foam::sixDOFqODE::force() const
 141 {
 142     return force_;
 143 }
 144
 145
 146 Foam::dimensionedVector& Foam::sixDOFqODE::force()
 147 {
 148     return force_;
 149 }
 150
 151
 152 const Foam::dimensionedVector& Foam::sixDOFqODE::moment() const
 153 {
 154     return moment_;
 155 }
 156
 157
 158 Foam::dimensionedVector& Foam::sixDOFqODE::moment()
 159 {
 160     return moment_;
 161 }
 162
 163
 164 const Foam::dimensionedVector& Foam::sixDOFqODE::forceRelative() const
 165 {
 166     return forceRelative_;
 167 }
 168
 169
 170 Foam::dimensionedVector& Foam::sixDOFqODE::forceRelative()
 171 {
 172     return forceRelative_;
 173 }
 174
 175
 176 const Foam::dimensionedVector& Foam::sixDOFqODE::momentRelative() const
 177 {
 178     return momentRelative_;
 179 }
 180
 181
 182 Foam::dimensionedVector& Foam::sixDOFqODE::momentRelative()
 183 {
 184     return momentRelative_;
 185 }
 186
 187
 188 Foam::dimensionedVector Foam::sixDOFqODE::forceTotal() const
 189 {
 190     return force() + (toAbsolute() & forceRelative());
 191 }
 192
 193
 194 Foam::dimensionedVector Foam::sixDOFqODE::momentTotal() const
 195 {
 196     return moment() + (toAbsolute() & momentRelative());
 197 }
 198
 199
 200 Foam::tensor Foam::sixDOFqODE::toRelative() const
 201 {
 202     return rotation_.eCurrent().R();
 203 }
 204
 205
 206 Foam::tensor Foam::sixDOFqODE::toAbsolute() const
 207 {
 208     return rotation_.eCurrent().invR();
 209 }
 210
 211
 212 const Foam::tensor& Foam::sixDOFqODE::rotIncrementTensor() const
 213 {
 214     return rotation_.rotIncrementTensor();
 215 }
 216
 217
 218 // ************************************************************************* //