99 scalar s0 =
sin(qj.
x());
100 scalar c0 =
cos(qj.
x());
101 scalar s1 =
sin(qj.
y());
103 scalar s2 =
sin(qj.
z());
109 c0*s1*s2 - s0*
c2, s0*s1*s2 + c0*
c2,
c1*s2,
110 c0*s1*
c2 + s0*s2, s0*s1*
c2 - c0*s2,
c1*
c2
127 -
c1*qDotj.
x()*qDotj.
y(),
129 -s1*s2*qDotj.
x()*qDotj.
y()
130 +
c1*
c2*qDotj.
x()*qDotj.
z()
131 - s2*qDotj.
y()*qDotj.
z(),
133 -s1*
c2*qDotj.
x()*qDotj.
y()
134 -
c1*s2*qDotj.
x()*qDotj.
z()
135 -
c2*qDotj.
y()*qDotj.
z(),
Macros for easy insertion into run-time selection tables.
VSForm block(const label start) const
Joint state returned by jcalc.
spatialVector c
The constrained joint acceleration correction.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
spatialVector v
The constrained joint velocity.
spatialTransform X
The joint transformation.
Abstract base-class for all rigid-body joints.
List< spatialVector > S_
Joint motion sub-space.
Spherical joint for rotation about the x/y/z-axes using Euler-angles in the order z,...
Rzyx(const rigidBodyModel &model)
Construct for given model.
virtual autoPtr< joint > clone() const
Clone this joint.
virtual ~Rzyx()
Destructor.
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Holds the motion state of rigid-body model.
const scalarField & qDot() const
Return access to the joint velocity.
const scalarField & q() const
Return access to the joint position and orientation.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
A list of keyword definitions, which are a keyword followed by any number of values (e....
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
const dimensionedScalar c1
First radiation constant: default SI units: [W/m^2].
const dimensionedScalar c2
Second radiation constant: default SI units: [m K].
Tensor< scalar > tensor
Tensor of scalars.
dimensionedScalar sin(const dimensionedScalar &ds)
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
dimensionedScalar cos(const dimensionedScalar &ds)