Rxyz.C
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25 
26 #include "Rxyz.H"
27 #include "rigidBodyModelState.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace joints
37 {
38  defineTypeNameAndDebug(Rxyz, 0);
39 
41  (
42  joint,
43  Rxyz,
44  dictionary
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
52 
54 :
55  joint(model, 3)
56 {
57  S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
58  S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
59  S_[2] = spatialVector(0, 0, 1, 0, 0, 0);
60 }
61 
62 
64 (
65  const rigidBodyModel& model,
66  const dictionary& dict
67 )
68 :
69  joint(model, 3)
70 {
71  S_[0] = spatialVector(1, 0, 0, 0, 0, 0);
72  S_[1] = spatialVector(0, 1, 0, 0, 0, 0);
73  S_[2] = spatialVector(0, 0, 1, 0, 0, 0);
74 }
75 
76 
78 {
79  return autoPtr<joint>(new Rxyz(*this));
80 }
81 
82 
83 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
84 
86 {}
87 
88 
89 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
90 
92 (
93  joint::XSvc& J,
94  const rigidBodyModelState& state
95 ) const
96 {
97  vector qj(state.q().block<vector>(qIndex_));
98 
99  scalar s0 = sin(qj.x());
100  scalar c0 = cos(qj.x());
101  scalar s1 = sin(qj.y());
102  scalar c1 = cos(qj.y());
103  scalar s2 = sin(qj.z());
104  scalar c2 = cos(qj.z());
105 
106  J.X.E() = tensor
107  (
108  c2*c1, s2*c0 + c2*s1*s0, s2*s0 - c2*s1*c0,
109  -s2*c1, c2*c0 - s2*s1*s0, c2*s0 + s2*s1*c0,
110  s1, -c1*s0, c1*c0
111  );
112  J.X.r() = Zero;
113 
114  J.S = Zero;
115  J.S.xx() = c2*c1;
116  J.S.xy() = s2;
117  J.S.yx() = -s2*c1;
118  J.S.yy() = c2;
119  J.S.zx() = s1;
120  J.S.zz() = 1;
121 
122  vector qDotj(state.qDot().block<vector>(qIndex_));
123  J.v = J.S & qDotj;
124 
125  J.c = spatialVector
126  (
127  -s2*c1*qDotj.z()*qDotj.x()
128  - c2*s1*qDotj.y()*qDotj.x()
129  + c2*qDotj.z()*qDotj.y(),
130 
131  -c2*c1*qDotj.z()*qDotj.x()
132  + s2*s1*qDotj.y()*qDotj.x()
133  - s2*qDotj.z()*qDotj.y(),
134 
135  c1*qDotj.y()*qDotj.x(),
136 
137  0,
138  0,
139  0
140  );
141 }
142 
143 
144 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:156
spatialVector v
The constrained joint velocity.
Definition: joint.H:137
const Cmpt & yx() const
Definition: MatrixSpaceI.H:190
label qIndex_
Index of this joints data in the rigidBodyModel state.
Definition: joint.H:97
compactSpatialTensor S
The joint motion sub-space (3-DoF)
Definition: joint.H:131
const Cmpt & xx() const
Definition: MatrixSpaceI.H:148
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
const Cmpt & z() const
Definition: VectorI.H:87
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:141
const vector & r() const
Return the translation vector.
Macros for easy insertion into run-time selection tables.
const dimensionedScalar c2
Second radiation constant: default SI units: [m K].
const Cmpt & y() const
Definition: VectorI.H:81
Holds the motion state of rigid-body model.
const dimensionedScalar c1
First radiation constant: default SI units: [W/m^2].
Rxyz(const rigidBodyModel &model)
Construct for given model.
Definition: Rxyz.C:53
Joint state returned by jcalc.
Definition: joint.H:123
dimensionedScalar cos(const dimensionedScalar &ds)
const scalarField & q() const
Return access to the joint position and orientation.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
const scalarField & qDot() const
Return access to the joint velocity.
virtual ~Rxyz()
Destructor.
Definition: Rxyz.C:85
static const zero Zero
Definition: zero.H:97
VSForm block(const label start) const
Definition: Field.C:503
const Cmpt & xy() const
Definition: MatrixSpaceI.H:162
const Cmpt & x() const
Definition: VectorI.H:75
joint(const rigidBodyModel &model, const label nDoF)
Construct joint setting the size of the motion sub-space.
Definition: jointI.H:28
dimensionedScalar sin(const dimensionedScalar &ds)
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:91
spatialTransform X
The joint transformation.
Definition: joint.H:128
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Rxyz.C:77
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: Rxyz.C:92
const tensor & E() const
Return the rotation tensor.
const Cmpt & yy() const
Definition: MatrixSpaceI.H:204
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Definition: PtrList.H:52
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
const Cmpt & zz() const
Definition: MatrixSpaceI.H:260
const Cmpt & zx() const
Definition: MatrixSpaceI.H:232
Tensor< scalar > tensor
Tensor of scalars.
Definition: tensor.H:51
Namespace for OpenFOAM.