EulerAngles Class Reference

Euler angle triplet. More...

#include <EulerAngles.h>

Public Member Functions
	EulerAngles ()
	EulerAngles (const Eigen::Quaternion< Real > &q)
	EulerAngles (const Real &v0, const Real &v1, const Real &v2)
	operator RealVectorValue () const
void	random ()
void	random (MooseRandom &random)
Eigen::Quaternion< Real >	toQuaternion ()

Public Attributes
Real	phi1
Real	Phi
Real	phi2

Detailed Description

Euler angle triplet.

Definition at line 24 of file EulerAngles.h.

Constructor & Destructor Documentation

EulerAngles() [1/3]

EulerAngles::EulerAngles

(

)

Definition at line 14 of file EulerAngles.C.

{
  phi1 = 0.0;
  Phi = 0.0;
  phi2 = 0.0;
}

EulerAngles() [2/3]

EulerAngles::EulerAngles

(

const Eigen::Quaternion< Real > &

q

)

Definition at line 21 of file EulerAngles.C.

{
  phi1 = std::atan2((q.x() * q.z() + q.w() * q.y()), -(-q.w() * q.x() + q.y() * q.z())) *
         (180.0 / libMesh::pi);
 
  // avoid NAN value from sqrt(val) while computing Phi
  auto val = 1.0 - std::pow(q.w() * q.w() - q.x() * q.x() - q.y() * q.y() + q.z() * q.z(), 2.0);
  if (val < 0.0 && !MooseUtils::absoluteFuzzyEqual(val, 0.0))
    mooseError("Euler angle conversion is not successful due to invalid quaternion value.");
 
  Phi = std::atan2(std::sqrt(std::abs(val)),
                   q.w() * q.w() - q.x() * q.x() - q.y() * q.y() + q.z() * q.z()) *
        (180.0 / libMesh::pi);
  phi2 = std::atan2((q.x() * q.z() - q.w() * q.y()), (q.w() * q.x() + q.y() * q.z())) *
         (180.0 / libMesh::pi);
 
  // Following checks and updates are done only to comply with bunge euler angle definitions, 0.0
  // <= phi1/phi2 <= 360.0
  if (phi1 < 0.0)
    phi1 += 360.0;
  if (phi2 < 0.0)
    phi2 += 360.0;
  if (Phi < 0.0)
    mooseError("Euler angle out of range.");
}

EulerAngles() [3/3]

EulerAngles::EulerAngles	(	const Real &	v0,
		const Real &	v1,
		const Real &	v2
	)

Definition at line 47 of file EulerAngles.C.

{
  phi1 = v0;
  Phi = v1;
  phi2 = v2;
}

Member Function Documentation

operator RealVectorValue()

EulerAngles::operator RealVectorValue ( ) const

inline

Definition at line 36 of file EulerAngles.h.

{ return RealVectorValue(phi1, Phi, phi2); }

random() [1/2]

void EulerAngles::random

(

)

Definition at line 84 of file EulerAngles.C.

{
  phi1 = MooseRandom::rand() * 360.0;
  Phi = std::acos(1.0 - 2.0 * MooseRandom::rand()) / libMesh::pi * 180.0;
  phi2 = MooseRandom::rand() * 360;
}

Referenced by RandomEulerAngleProvider::initialize(), GrainTrackerElasticity::newGrain(), and random().

random() [2/2]

void EulerAngles::random

(

MooseRandom &

random

)

Definition at line 92 of file EulerAngles.C.

{
  phi1 = random.rand(0) * 360.0;
  Phi = std::acos(1.0 - 2.0 * random.rand(0)) / libMesh::pi * 180.0;
  phi2 = random.rand(0) * 360;
}

toQuaternion()

Eigen::Quaternion< Real > EulerAngles::toQuaternion

(

)

"NASA Mission Planning and Analysis Division. "Euler Angles, Quaternions, and Transformation Matrices". NASA.

Definition at line 55 of file EulerAngles.C.

{
  Eigen::Quaternion<Real> q;
 
  Real cPhi1PlusPhi2, cphi, cPhi1MinusPhi2;
  Real sPhi1PlusPhi2, sphi, sPhi1MinusPhi2;
 
  cPhi1PlusPhi2 = std::cos((phi1 * libMesh::pi / 180.0 + phi2 * libMesh::pi / 180.0) / 2.0);
  cphi = std::cos(Phi * libMesh::pi / 360.0);
  cPhi1MinusPhi2 = std::cos((phi1 * libMesh::pi / 180.0 - phi2 * libMesh::pi / 180.0) / 2.0);
 
  sPhi1PlusPhi2 = std::sin((phi1 * libMesh::pi / 180.0 + phi2 * libMesh::pi / 180.0) / 2.0);
  sphi = std::sin(Phi * libMesh::pi / 360.0);
  sPhi1MinusPhi2 = std::sin((phi1 * libMesh::pi / 180.0 - phi2 * libMesh::pi / 180.0) / 2.0);
 
  q.w() = cphi * cPhi1PlusPhi2;
  q.x() = sphi * cPhi1MinusPhi2;
  q.y() = sphi * sPhi1MinusPhi2;
  q.z() = cphi * sPhi1PlusPhi2;
 
  return q;
}

Referenced by ComputeGBMisorientationType::getMisorientationAngles(), and EBSDReader::readFile().

Member Data Documentation

Phi

Real EulerAngles::Phi

Definition at line 27 of file EulerAngles.h.

Referenced by EulerAngles(), EulerAngles(), EulerAngles(), GrainTextureVectorPostprocessor::execute(), BlockOrientationVectorPostprocessor::execute(), ComputeBlockOrientationByMisorientation::execute(), operator RealVectorValue(), random(), random(), EBSDReader::readFile(), EBSDAccessFunctorsTest::SetUp(), and toQuaternion().

phi1

Real EulerAngles::phi1

Definition at line 27 of file EulerAngles.h.

Referenced by EulerAngles(), EulerAngles(), EulerAngles(), GrainTextureVectorPostprocessor::execute(), BlockOrientationVectorPostprocessor::execute(), ComputeBlockOrientationByMisorientation::execute(), operator RealVectorValue(), random(), random(), EBSDReader::readFile(), EBSDAccessFunctorsTest::SetUp(), and toQuaternion().

phi2

Real EulerAngles::phi2

Definition at line 27 of file EulerAngles.h.

Referenced by EulerAngles(), EulerAngles(), EulerAngles(), GrainTextureVectorPostprocessor::execute(), BlockOrientationVectorPostprocessor::execute(), ComputeBlockOrientationByMisorientation::execute(), operator RealVectorValue(), random(), random(), EBSDReader::readFile(), EBSDAccessFunctorsTest::SetUp(), and toQuaternion().

---

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

• solid_mechanics/include/utils/EulerAngles.h
• solid_mechanics/src/utils/EulerAngles.C