kynema::math Namespace Reference

Functions
std::vector< double >	GetGllLocations (size_t order)
std::vector< double >	GetGllWeights (size_t order)
void	LinearInterpWeights (double x, std::span< const double > xs, std::vector< double > &weights)
	Computes weights for linear interpolation.
double	LinearInterp (double x, std::span< const double > xs, std::span< const double > values)
	Computes linear interpolation.
void	LagrangePolynomialInterpWeights (double x, std::span< const double > xs, std::vector< double > &weights)
	Computes weights for Lagrange polynomial interpolation.
void	LagrangePolynomialDerivWeights (double x, std::span< const double > xs, std::vector< double > &weights)
	Computes weights for Lagrange polynomial derivative interpolation.
double	LegendrePolynomial (const size_t n, const double x)
	Calculates the value of Legendre polynomial of order n at point x.
std::vector< double >	GenerateGLLPoints (const size_t order)
	Generates Gauss-Lobatto-Legendre (GLL) points for spectral element discretization.
std::vector< double >	MapGeometricLocations (std::span< const double > geom_locations)
	Maps input geometric locations -> normalized domain using linear mapping.
std::vector< std::vector< double > >	ComputeShapeFunctionValues (std::span< const double > input_points, std::span< const double > output_points)
	Computes shape function matrices ϕg relating points ξb to ξg At least two input points are required and it is assumed that there are more output points than input points.
std::vector< std::vector< double > >	ComputeShapeFunctionDerivatives (std::span< const double > input_points, std::span< const double > output_points)
	Computes shape function derivatives dϕg relating points ξb to ξg At least two input points are required and it is assumed that there are more output points than input points.
std::vector< std::array< double, 3 > >	PerformLeastSquaresFitting (size_t p, std::span< const std::vector< double > > shape_functions, std::span< const std::array< double, 3 > > points_to_fit)
	Performs least squares fitting to determine interpolation coefficients.
template<typename Matrix >
KOKKOS_INLINE_FUNCTION void	AX_Matrix (const Matrix &A, const Matrix &AX_A)
	Computes AX(A) of a square matrix.
template<typename Matrix , typename Vector >
KOKKOS_INLINE_FUNCTION void	AxialVectorOfMatrix (const Matrix &m, const Vector &v)
	Computes the axial vector (also known as the vector representation) of a 3x3 skew-symmetric matrix.
std::array< std::array< double, 6 >, 6 >	RotateMatrix6 (const std::array< std::array< double, 6 >, 6 > &m, const std::array< double, 4 > &q)
std::vector< std::array< double, 3 > >	ProjectPointsToTargetPolynomial (size_t num_inputs, size_t num_outputs, std::span< const std::array< double, 3 > > input_points)
	Projects 3D points from a given (lower) polynomial representation to a target (higher) polynomial representation.
template<typename Quaternion , typename RotationMatrix >
KOKKOS_INLINE_FUNCTION void	QuaternionToRotationMatrix (const Quaternion &q, const RotationMatrix &R)
	Converts a 4x1 quaternion to a 3x3 rotation matrix and returns the result.
std::array< std::array< double, 3 >, 3 >	QuaternionToRotationMatrix (const std::array< double, 4 > &q)
	Converts a 4x1 quaternion to a 3x3 rotation matrix and returns the result.
std::array< double, 4 >	RotationMatrixToQuaternion (const std::array< std::array< double, 3 >, 3 > &m)
	Converts a 3x3 rotation matrix to a 4x1 quaternion and returns the result, see https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/ for implementation details.
template<typename Quaternion , typename View1 , typename View2 >
KOKKOS_INLINE_FUNCTION void	RotateVectorByQuaternion (const Quaternion &q, const View1 &v, const View2 &v_rot)
	Rotates provided vector by provided unit quaternion and returns the result.
std::array< double, 3 >	RotateVectorByQuaternion (std::span< const double, 4 > q, std::span< const double, 3 > v)
	Rotates provided vector by provided unit quaternion and returns the result.
template<typename Quaternion , typename Matrix >
KOKKOS_INLINE_FUNCTION void	QuaternionDerivative (const Quaternion &q, const Matrix &m)
	Computes the derivative of a quaternion and stores the result in a 3x4 matrix.
template<typename QuaternionInput , typename QuaternionOutput >
KOKKOS_INLINE_FUNCTION void	QuaternionInverse (const QuaternionInput &q_in, const QuaternionOutput &q_out)
	Computes the inverse of a quaternion.
std::array< double, 4 >	QuaternionInverse (std::span< const double, 4 > quaternion)
	Computes the inverse of a quaternion.
template<typename Quaternion1 , typename Quaternion2 , typename QuaternionN >
KOKKOS_INLINE_FUNCTION void	QuaternionCompose (const Quaternion1 &q1, const Quaternion2 &q2, QuaternionN &qn)
	Composes (i.e. multiplies) two quaternions and stores the result in a third quaternion.
std::array< double, 4 >	QuaternionCompose (const std::array< double, 4 > &q1, const std::array< double, 4 > &q2)
	Composes (i.e. multiplies) two quaternions and returns the result.
template<typename Vector , typename Quaternion >
KOKKOS_INLINE_FUNCTION void	RotationVectorToQuaternion (const Vector &phi, const Quaternion &quaternion)
	Returns a 4-D quaternion from provided 3-D rotation vector, i.e. the exponential map.
template<typename Quaternion , typename Vector >
KOKKOS_INLINE_FUNCTION void	QuaternionToRotationVector (const Quaternion &quaternion, const Vector &phi)
	Returns a 3-D rotation vector from provided 4-D quaternion, i.e. the logarithmic map.
std::array< double, 3 >	QuaternionToRotationVector (const std::array< double, 4 > &quaternion)
	Returns a 3-D rotation vector from provided 4-D quaternion.
std::array< double, 4 >	RotationVectorToQuaternion (const std::array< double, 3 > &phi)
	Returns a 4-D quaternion from provided 3-D rotation vector, i.e. the exponential map.
KOKKOS_INLINE_FUNCTION Kokkos::Array< double, 4 >	NormalizeQuaternion (const Kokkos::Array< double, 4 > &q)
	Normalizes a quaternion to ensure it is a unit quaternion.
std::array< double, 4 >	TangentTwistToQuaternion (const std::array< double, 3 > &tangent, const double twist)
	Returns a 4-D quaternion from provided tangent vector and twist (degrees) about tangent.
std::array< double, 4 >	AxisAngleToQuaternion (const std::array< double, 3 > &axis, double angle)
	Returns a quaternion from the axis vector and angle (radians)
bool	IsIdentityQuaternion (const std::array< double, 4 > &q, double tolerance=1e-12)
	Checks if a quaternion is approximately the identity quaternion [1, 0, 0, 0].
template<typename VectorType , typename MatrixType >
KOKKOS_INLINE_FUNCTION void	VecTilde (const VectorType &vector, const MatrixType &matrix)
	Converts a 3x1 vector to a 3x3 skew-symmetric matrix and returns the result.
template<typename AVectorType , typename BVectorType >
KOKKOS_INLINE_FUNCTION double	DotProduct (const AVectorType &a, const BVectorType &b)
	Calculate the dot product between two vector views.
constexpr double	DotProduct (const std::array< double, 3 > &a, const std::array< double, 3 > &b)
	Calculate the dot product between two vector views.
template<typename VectorType >
KOKKOS_INLINE_FUNCTION void	CrossProduct (const VectorType &a, const VectorType &b, const VectorType &c)
	Calculate the cross product between two vector views.
constexpr std::array< double, 3 >	CrossProduct (std::span< const double, 3 > a, std::span< const double, 3 > b)
	Calculate the cross product between two vectors.
constexpr double	Norm (const std::array< double, 3 > &v)
	Calculate the norm of a given vector.
constexpr std::array< double, 3 >	UnitVector (const std::array< double, 3 > &v)
	UnitVector returns the unit vector of the given vector.

Function Documentation

AX_Matrix()

template<typename Matrix >

KOKKOS_INLINE_FUNCTION void kynema::math::AX_Matrix	(	const Matrix &	A,
		const Matrix &	AX_A
	)

Computes AX(A) of a square matrix.

AX(A) = tr(A)/2 * I - A/2, where I is the identity matrix

Parameters

A	Input square matrix
AX_A	Output matrix containing the result

AxialVectorOfMatrix()

template<typename Matrix , typename Vector >

KOKKOS_INLINE_FUNCTION void kynema::math::AxialVectorOfMatrix	(	const Matrix &	m,
		const Vector &	v
	)

Computes the axial vector (also known as the vector representation) of a 3x3 skew-symmetric matrix.

The axial vector is defined as [w₁, w₂, w₃]ᵀ where: w₁ = (m₃₂ - m₂₃)/2 w₂ = (m₁₃ - m₃₁)/2 w₃ = (m₂₁ - m₁₂)/2

Parameters

m	Input 3x3 rotation matrix
v	Output vector to store the result

Precondition

Matrix m must be 3x3 and vector v must have size 3

AxisAngleToQuaternion()

std::array< double, 4 > kynema::math::AxisAngleToQuaternion ( const std::array< double, 3 > &  axis, double  angle  )

inline

Returns a quaternion from the axis vector and angle (radians)

ComputeShapeFunctionDerivatives()

std::vector< std::vector< double > > kynema::math::ComputeShapeFunctionDerivatives ( std::span< const double >  input_points, std::span< const double >  output_points  )

inline

Computes shape function derivatives dϕg relating points ξb to ξg At least two input points are required and it is assumed that there are more output points than input points.

Parameters

input_points	Input points, ξb, in [-1, 1]
output_points	Output points, ξg, in [-1, 1]

Returns

Shape function derivative matrix

ComputeShapeFunctionValues()

std::vector< std::vector< double > > kynema::math::ComputeShapeFunctionValues ( std::span< const double >  input_points, std::span< const double >  output_points  )

inline

Computes shape function matrices ϕg relating points ξb to ξg At least two input points are required and it is assumed that there are more output points than input points.

Parameters

input_points	Input points, ξb, in [-1, 1]
output_points	Output points, ξg, in [-1, 1]

Returns

Shape function matrix

CrossProduct() [1/2]

template<typename VectorType >

KOKKOS_INLINE_FUNCTION void kynema::math::CrossProduct	(	const VectorType &	a,
		const VectorType &	b,
		const VectorType &	c
	)

Calculate the cross product between two vector views.

CrossProduct() [2/2]

constexpr std::array< double, 3 > kynema::math::CrossProduct ( std::span< const double, 3 >  a, std::span< const double, 3 >  b  )

constexpr

Calculate the cross product between two vectors.

DotProduct() [1/2]

template<typename AVectorType , typename BVectorType >

KOKKOS_INLINE_FUNCTION double kynema::math::DotProduct	(	const AVectorType &	a,
		const BVectorType &	b
	)

Calculate the dot product between two vector views.

DotProduct() [2/2]

constexpr double kynema::math::DotProduct ( const std::array< double, 3 > &  a, const std::array< double, 3 > &  b  )

constexpr

Calculate the dot product between two vector views.

GenerateGLLPoints()

std::vector< double > kynema::math::GenerateGLLPoints ( const size_t  order )

inline

Generates Gauss-Lobatto-Legendre (GLL) points for spectral element discretization.

Computes the GLL points, i.e. roots of the Legendre polynomial, using Newton-Raphson iteration. GLL points are optimal interpolation nodes for spectral methods.

Parameters

order

Order of the polynomial interpolation (must be >= 1)

Returns

Vector of GLL points sorted in ascending order, size = order + 1

Exceptions

std::invalid_argument	if order < 1
std::runtime_error	if Newton-Raphson iteration fails to converge

GetGllLocations()

std::vector< double > kynema::math::GetGllLocations ( size_t  order )

inline

GetGllWeights()

std::vector< double > kynema::math::GetGllWeights ( size_t  order )

inline

IsIdentityQuaternion()

bool kynema::math::IsIdentityQuaternion ( const std::array< double, 4 > &  q, double  tolerance = 1e-12  )

inline

Checks if a quaternion is approximately the identity quaternion [1, 0, 0, 0].

Parameters

q	The quaternion to check
tolerance	The tolerance for the comparison (default: 1e-12)

Returns

true if the quaternion is approximately the identity quaternion, false otherwise

LagrangePolynomialDerivWeights()

void kynema::math::LagrangePolynomialDerivWeights ( double  x, std::span< const double >  xs, std::vector< double > &  weights  )

inline

Computes weights for Lagrange polynomial derivative interpolation.

Parameters

x	Evaluation point
xs	Interpolation nodes (sorted)
weights	Output: weights for Lagrange polynomial derivative interpolation

LagrangePolynomialInterpWeights()

void kynema::math::LagrangePolynomialInterpWeights ( double  x, std::span< const double >  xs, std::vector< double > &  weights  )

inline

Computes weights for Lagrange polynomial interpolation.

Parameters

x	Evaluation point
xs	Interpolation nodes (sorted)
weights	Output: weights for Lagrange polynomial interpolation

LegendrePolynomial()

double kynema::math::LegendrePolynomial ( const size_t  n, const double  x  )

inline

Calculates the value of Legendre polynomial of order n at point x.

Uses the recurrence relation for Legendre polynomials: P_n(x) = ((2n-1)xP_{n-1}(x) - (n-1)P_{n-2}(x))/n Reference: Deville et al. (2002) "High-Order Methods for Incompressible Fluid Flow" DOI: https://doi.org/10.1017/CBO9780511546792, Eq. B.1.15, p.446

Parameters

n	Order of the Legendre polynomial (n >= 0)
x	Point at which to evaluate the polynomial, typically in [-1,1]

Returns

Value of the nth order Legendre polynomial at x

LinearInterp()

double kynema::math::LinearInterp ( double  x, std::span< const double >  xs, std::span< const double >  values  )

inline

Computes linear interpolation.

Parameters

x	Evaluation point
xs	Value locations
values	Values at given locations

Returns

Interpolated value at evaluation point

LinearInterpWeights()

void kynema::math::LinearInterpWeights ( double  x, std::span< const double >  xs, std::vector< double > &  weights  )

inline

Computes weights for linear interpolation.

Parameters

x	Evaluation point
xs	Interpolation nodes (sorted)
weights	Output: weights for linear interpolation

MapGeometricLocations()

std::vector< double > kynema::math::MapGeometricLocations ( std::span< const double >  geom_locations )

inline

Maps input geometric locations -> normalized domain using linear mapping.

Parameters

geom_locations

Input geometric locations (typically in domain [0, 1]), sorted in ascending order

Returns

std::vector<double> Mapped/normalized evaluation points in domain [-1, 1]

Norm()

constexpr double kynema::math::Norm ( const std::array< double, 3 > &  v )

constexpr

Calculate the norm of a given vector.

NormalizeQuaternion()

KOKKOS_INLINE_FUNCTION Kokkos::Array< double, 4 > kynema::math::NormalizeQuaternion

(

const Kokkos::Array< double, 4 > &

q

)

Normalizes a quaternion to ensure it is a unit quaternion.

If the length of the quaternion is zero, it returns a default unit quaternion. Otherwise, it normalizes the quaternion and returns the result.

Parameters

q	The input quaternion as a Kokkos::Array<double, 4>

Returns

Kokkos::Array<double, 4> The normalized quaternion

PerformLeastSquaresFitting()

std::vector< std::array< double, 3 > > kynema::math::PerformLeastSquaresFitting ( size_t  p, std::span< const std::vector< double > >  shape_functions, std::span< const std::array< double, 3 > >  points_to_fit  )

inline

Performs least squares fitting to determine interpolation coefficients.

Performs least squares fitting to determine interpolation coefficients by solving a dense linear system [A][X] = [B], where [A] is the shape function matrix (p x n), [B] is the input points (n x 3), and [X] is the interpolation coefficients (p x 3)

Parameters

p	Number of points representing the polynomial of order p-1
shape_functions	Shape function matrix (p x n)
points_to_fit	x,y,z coordinates of the points to fit (n x 3)

Returns

Interpolation coefficients (p x 3)

ProjectPointsToTargetPolynomial()

std::vector< std::array< double, 3 > > kynema::math::ProjectPointsToTargetPolynomial ( size_t  num_inputs, size_t  num_outputs, std::span< const std::array< double, 3 > >  input_points  )

inline

Projects 3D points from a given (lower) polynomial representation to a target (higher) polynomial representation.

This function maps a set of 3D points defined at nodes of a polynomial of order source_order to corresponding points at nodes of a polynomial of order target_order (typically higher than the source order) using Least-Squares Finite Element (LSFE) shape functions.

Primary use case: The primary application of this function is to increase the number of points from a lower-order geometric representation to the higher-order representation required for spectral finite element analysis. This enables the use of high-order methods while allowing geometry to be defined with fewer points initially.

Parameters

num_inputs	Number of points in the source polynomial representation
num_outputs	Number of points in the target polynomial representation
input_points	3D coordinates of points in the source representation

Returns

std::vector<std::array<double, 3>>

• Coordinates of the projected 3D points at the target polynomial nodes

QuaternionCompose() [1/2]

template<typename Quaternion1 , typename Quaternion2 , typename QuaternionN >

KOKKOS_INLINE_FUNCTION void kynema::math::QuaternionCompose	(	const Quaternion1 &	q1,
		const Quaternion2 &	q2,
		QuaternionN &	qn
	)

Composes (i.e. multiplies) two quaternions and stores the result in a third quaternion.

QuaternionCompose() [2/2]

std::array< double, 4 > kynema::math::QuaternionCompose ( const std::array< double, 4 > &  q1, const std::array< double, 4 > &  q2  )

inline

Composes (i.e. multiplies) two quaternions and returns the result.

QuaternionDerivative()

template<typename Quaternion , typename Matrix >

KOKKOS_INLINE_FUNCTION void kynema::math::QuaternionDerivative	(	const Quaternion &	q,
		const Matrix &	m
	)

Computes the derivative of a quaternion and stores the result in a 3x4 matrix.

QuaternionInverse() [1/2]

template<typename QuaternionInput , typename QuaternionOutput >

KOKKOS_INLINE_FUNCTION void kynema::math::QuaternionInverse	(	const QuaternionInput &	q_in,
		const QuaternionOutput &	q_out
	)

Computes the inverse of a quaternion.

QuaternionInverse() [2/2]

std::array< double, 4 > kynema::math::QuaternionInverse ( std::span< const double, 4 >  quaternion )

inline

Computes the inverse of a quaternion.

QuaternionToRotationMatrix() [1/2]

template<typename Quaternion , typename RotationMatrix >

KOKKOS_INLINE_FUNCTION void kynema::math::QuaternionToRotationMatrix	(	const Quaternion &	q,
		const RotationMatrix &	R
	)

Converts a 4x1 quaternion to a 3x3 rotation matrix and returns the result.

QuaternionToRotationMatrix() [2/2]

std::array< std::array< double, 3 >, 3 > kynema::math::QuaternionToRotationMatrix ( const std::array< double, 4 > &  q )

inline

Converts a 4x1 quaternion to a 3x3 rotation matrix and returns the result.

QuaternionToRotationVector() [1/2]

template<typename Quaternion , typename Vector >

KOKKOS_INLINE_FUNCTION void kynema::math::QuaternionToRotationVector	(	const Quaternion &	quaternion,
		const Vector &	phi
	)

Returns a 3-D rotation vector from provided 4-D quaternion, i.e. the logarithmic map.

QuaternionToRotationVector() [2/2]

std::array< double, 3 > kynema::math::QuaternionToRotationVector ( const std::array< double, 4 > &  quaternion )

inline

Returns a 3-D rotation vector from provided 4-D quaternion.

RotateMatrix6()

std::array< std::array< double, 6 >, 6 > kynema::math::RotateMatrix6 ( const std::array< std::array< double, 6 >, 6 > &  m, const std::array< double, 4 > &  q  )

inline

RotateVectorByQuaternion() [1/2]

template<typename Quaternion , typename View1 , typename View2 >

KOKKOS_INLINE_FUNCTION void kynema::math::RotateVectorByQuaternion	(	const Quaternion &	q,
		const View1 &	v,
		const View2 &	v_rot
	)

Rotates provided vector by provided unit quaternion and returns the result.

RotateVectorByQuaternion() [2/2]

std::array< double, 3 > kynema::math::RotateVectorByQuaternion ( std::span< const double, 4 >  q, std::span< const double, 3 >  v  )

inline

Rotates provided vector by provided unit quaternion and returns the result.

RotationMatrixToQuaternion()

std::array< double, 4 > kynema::math::RotationMatrixToQuaternion ( const std::array< std::array< double, 3 >, 3 > &  m )

inline

Converts a 3x3 rotation matrix to a 4x1 quaternion and returns the result, see https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/ for implementation details.

RotationVectorToQuaternion() [1/2]

std::array< double, 4 > kynema::math::RotationVectorToQuaternion ( const std::array< double, 3 > &  phi )

inline

Returns a 4-D quaternion from provided 3-D rotation vector, i.e. the exponential map.

RotationVectorToQuaternion() [2/2]

template<typename Vector , typename Quaternion >

KOKKOS_INLINE_FUNCTION void kynema::math::RotationVectorToQuaternion	(	const Vector &	phi,
		const Quaternion &	quaternion
	)

Returns a 4-D quaternion from provided 3-D rotation vector, i.e. the exponential map.

TangentTwistToQuaternion()

std::array< double, 4 > kynema::math::TangentTwistToQuaternion ( const std::array< double, 3 > &  tangent, const double  twist  )

inline

Returns a 4-D quaternion from provided tangent vector and twist (degrees) about tangent.

UnitVector()

constexpr std::array< double, 3 > kynema::math::UnitVector ( const std::array< double, 3 > &  v )

constexpr

UnitVector returns the unit vector of the given vector.

VecTilde()

template<typename VectorType , typename MatrixType >

KOKKOS_INLINE_FUNCTION void kynema::math::VecTilde	(	const VectorType &	vector,
		const MatrixType &	matrix
	)

Converts a 3x1 vector to a 3x3 skew-symmetric matrix and returns the result.