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RotationTensor Class Reference

This is a RealTensor version of a rotation matrix It is instantiated with the Euler angles, which are measured in degrees. More...

#include <RotationTensor.h>

Inheritance diagram for RotationTensor:
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Public Types

enum  Axis { XAXIS = 0, YAXIS, ZAXIS }
 axis for single axis rotation constructor More...
 

Public Member Functions

 RotationTensor (Axis axis, Real angle)
 single axis rotation (in degrees) More...
 
 RotationTensor (const RealVectorValue &euler_angles)
 fills according to Euler angles (measured in degrees) More...
 
void update (Axis axis, Real angle)
 reforms the rotation matrix according to axis and angle. More...
 
void update (const RealVectorValue &euler_angles)
 reforms the rotation matrix according to the Euler angles. More...
 

Detailed Description

This is a RealTensor version of a rotation matrix It is instantiated with the Euler angles, which are measured in degrees.

R = Z0 *X1 * Z2 where Z0 = anticlockwise rotation about Z axis through euler_angles(0) degrees where X1 = anticlockwise rotation about X axis through euler_angles(1) degress where Z2 = anticlockwise rotation about Z axis through euler_angles(2) degrees or an axis, angle pair where the angle is taken anticlockwise in degrees

Definition at line 30 of file RotationTensor.h.

Member Enumeration Documentation

◆ Axis

axis for single axis rotation constructor

Enumerator
XAXIS 
YAXIS 
ZAXIS 

Definition at line 34 of file RotationTensor.h.

Constructor & Destructor Documentation

◆ RotationTensor() [1/2]

RotationTensor::RotationTensor ( Axis  axis,
Real  angle 
)

single axis rotation (in degrees)

Definition at line 15 of file RotationTensor.C.

15 { update(axis, angle); }
static const std::string axis
Definition: NS.h:27
void update(Axis axis, Real angle)
reforms the rotation matrix according to axis and angle.

◆ RotationTensor() [2/2]

RotationTensor::RotationTensor ( const RealVectorValue euler_angles)

fills according to Euler angles (measured in degrees)

Definition at line 17 of file RotationTensor.C.

17 { update(euler_angles); }
void update(Axis axis, Real angle)
reforms the rotation matrix according to axis and angle.

Member Function Documentation

◆ update() [1/2]

void RotationTensor::update ( Axis  axis,
Real  angle 
)

reforms the rotation matrix according to axis and angle.

Definition at line 20 of file RotationTensor.C.

Referenced by ComputeElasticityTensorCP::assignEulerAngles().

21 {
22  zero();
23 
25  a(axis) = 1.0;
26 
27  const Real s = std::sin(angle * libMesh::pi / 180.0);
28  const Real c = std::cos(angle * libMesh::pi / 180.0);
29 
30  // assemble row wise
31  _coords[0] = a * RealVectorValue(1.0, -c, -c);
32  _coords[1] = a * RealVectorValue(0.0, 0.0, s);
33  _coords[2] = a * RealVectorValue(0.0, -s, 0.0);
34 
35  _coords[3] = a * RealVectorValue(0.0, 0.0, -s);
36  _coords[4] = a * RealVectorValue(-c, 1.0, -c);
37  _coords[5] = a * RealVectorValue(s, 0.0, 0.0);
38 
39  _coords[6] = a * RealVectorValue(0.0, s, 0.0);
40  _coords[7] = a * RealVectorValue(-s, 0.0, 0.0);
41  _coords[8] = a * RealVectorValue(-c, -c, 1.0);
42 }
static const std::string axis
Definition: NS.h:27
const Number zero
DIE A HORRIBLE DEATH HERE typedef LIBMESH_DEFAULT_SCALAR_TYPE Real
const Real pi

◆ update() [2/2]

void RotationTensor::update ( const RealVectorValue euler_angles)

reforms the rotation matrix according to the Euler angles.

Definition at line 45 of file RotationTensor.C.

46 {
47  const Real phi_1 = euler_angles(0) * (libMesh::pi / 180.0);
48  const Real Phi = euler_angles(1) * (libMesh::pi / 180.0);
49  const Real phi_2 = euler_angles(2) * (libMesh::pi / 180.0);
50 
51  const Real c1 = std::cos(phi_1);
52  const Real c2 = std::cos(Phi);
53  const Real c3 = std::cos(phi_2);
54 
55  const Real s1 = std::sin(phi_1);
56  const Real s2 = std::sin(Phi);
57  const Real s3 = std::sin(phi_2);
58 
59  // doing a Z1, X2, Z3 rotation
60  // RealTensorValue is formed row-wise
61 
62  _coords[0] = c1 * c3 - c2 * s1 * s3; // R11
63  _coords[3] = -c1 * s3 - c2 * c3 * s1; // R21
64  _coords[6] = s1 * s2; // R31
65 
66  _coords[1] = c3 * s1 + c1 * c2 * s3; // R12
67  _coords[4] = c1 * c2 * c3 - s1 * s3; // R22
68  _coords[7] = -c1 * s2; // R32
69 
70  _coords[2] = s2 * s3; // R13
71  _coords[5] = c3 * s2; // R23
72  _coords[8] = c2; // R33
73 }
DIE A HORRIBLE DEATH HERE typedef LIBMESH_DEFAULT_SCALAR_TYPE Real
const Real pi

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