Rot.h

// Copyright 2023, UChicago Argonne, LLC
// All Rights Reserved
// Software Name: NEML2 -- the New Engineering material Model Library, version 2
// By: Argonne National Laboratory
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#pragma once
 
#include "neml2/tensors/VecBase.h"
 
namespace neml2
{
// Forward declarations
class Scalar;
class Vec;
class R2;
class R3;
 
class Rot : public VecBase<Rot>
{
public:
  using VecBase<Rot>::VecBase;
 
  Rot(const Vec & v);
 
  [[nodiscard]] static Rot
  identity(const torch::TensorOptions & options = default_tensor_options());
 
  Rot inverse() const;
 
  R2 euler_rodrigues() const;
 
  R3 deuler_rodrigues() const;
 
  Rot rotate(const Rot & r) const;
 
  R2 drotate(const Rot & r) const;
 
  R2 drotate_self(const Rot & r) const;
 
  Rot shadow() const;
 
  R2 dshadow() const;
};
 
//  So this follows the "matrix" convention where it's exactly the same
//  as the standard matrix product R1 * R2 where R1 and R2 are the
//  matrix representations of r1 and r2
Rot operator*(const Rot & r1, const Rot & r2);
 
} // namespace neml2