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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 13 of file RotationTensor.C.

13 { update(axis, angle); }
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 15 of file RotationTensor.C.

15 { 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 18 of file RotationTensor.C.

Referenced by ComputeElasticityTensorCP::computeQpElasticityTensor(), and RotationTensor().

19 {
20  zero();
21 
22  RealVectorValue a;
23  a(axis) = 1.0;
24 
25  const Real s = std::sin(angle * libMesh::pi / 180.0);
26  const Real c = std::cos(angle * libMesh::pi / 180.0);
27 
28  // assemble row wise
29  _coords[0] = a * RealVectorValue(1.0, -c, -c);
30  _coords[1] = a * RealVectorValue(0.0, 0.0, s);
31  _coords[2] = a * RealVectorValue(0.0, -s, 0.0);
32 
33  _coords[3] = a * RealVectorValue(0.0, 0.0, -s);
34  _coords[4] = a * RealVectorValue(-c, 1.0, -c);
35  _coords[5] = a * RealVectorValue(s, 0.0, 0.0);
36 
37  _coords[6] = a * RealVectorValue(0.0, s, 0.0);
38  _coords[7] = a * RealVectorValue(-s, 0.0, 0.0);
39  _coords[8] = a * RealVectorValue(-c, -c, 1.0);
40 }

◆ update() [2/2]

void RotationTensor::update ( const RealVectorValue &  euler_angles)

reforms the rotation matrix according to the Euler angles.

Definition at line 43 of file RotationTensor.C.

44 {
45  const Real phi_1 = euler_angles(0) * (libMesh::pi / 180.0);
46  const Real Phi = euler_angles(1) * (libMesh::pi / 180.0);
47  const Real phi_2 = euler_angles(2) * (libMesh::pi / 180.0);
48 
49  const Real c1 = std::cos(phi_1);
50  const Real c2 = std::cos(Phi);
51  const Real c3 = std::cos(phi_2);
52 
53  const Real s1 = std::sin(phi_1);
54  const Real s2 = std::sin(Phi);
55  const Real s3 = std::sin(phi_2);
56 
57  // doing a Z1, X2, Z3 rotation
58  // RealTensorValue is formed row-wise
59 
60  _coords[0] = c1 * c3 - c2 * s1 * s3; // R11
61  _coords[3] = -c1 * s3 - c2 * c3 * s1; // R12
62  _coords[6] = s1 * s2; // R13
63 
64  _coords[1] = c3 * s1 + c1 * c2 * s3; // R21
65  _coords[4] = c1 * c2 * c3 - s1 * s3; // R22
66  _coords[7] = -c1 * s2; // R23
67 
68  _coords[2] = s2 * s3; // R31
69  _coords[5] = c3 * s2; // R32
70  _coords[8] = c2; // R33
71 }

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