Abstract base-class for all rigid-body joints. More...

Inheritance diagram for joint:

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Collaboration diagram for joint:

Classes
class	iNew

class	XSvc
	Joint state returned by jcalc. More...

Public Member Functions
	TypeName ("joint")
	Runtime type information. More...

	declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const rigidBodyModel &model, const dictionary &dict),(model, dict))

	joint (const rigidBodyModel &model, const label nDoF)
	Construct joint setting the size of the motion sub-space. More...

	joint (const joint &)=default
	Copy constructor. More...

virtual autoPtr< joint >	clone () const =0
	Clone this joint (needed by PtrList) More...

virtual	~joint ()
	Destructor. More...

label	nDoF () const
	Return the number of degrees of freedom in this joint. More...

virtual bool	unitQuaternion () const
	Return true if this joint describes rotation using a quaternion. More...

label	index () const
	Return the index of this joint in the model. More...

label	qIndex () const
	Return start index for the state variables for this joint. More...

const List< spatialVector > &	S () const
	Return the joint motion sub-space. More...

virtual void	jcalc (XSvc &J, const rigidBodyModelState &state) const =0
	Update the rigidBodyModel state for the joint given. More...

virtual void	write (Ostream &) const
	Write. More...

void	operator= (const joint &j)
	Assignment. More...

quaternion	unitQuaternion (const scalarField &q) const
	Return the unit quaternion for this joint. More...

void	unitQuaternion (const quaternion &quat, scalarField &q) const
	Set the unit quaternion for this joint. More...

Static Public Member Functions
static autoPtr< joint >	New (joint *jointPtr)
	Simple selector to return an autoPtr<joint> of the given joint*. More...

static autoPtr< joint >	New (const rigidBodyModel &model, const dictionary &dict)
	Select from dictionary. More...

Protected Attributes
const rigidBodyModel &	model_
	Reference to the model. More...

List< spatialVector >	S_
	Joint motion sub-space. More...

label	index_
	Index of this joint in the rigidBodyModel. More...

label	qIndex_
	Index of this joints data in the rigidBodyModel state. More...

Friends
class	rigidBodyModel
	Allow the rigidBodyModel class to set the joint indices. More...

Ostream &	operator<< (Ostream &, const joint &)

Detailed Description

Abstract base-class for all rigid-body joints.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
    Chapter 4.

Source files

Definition at line 80 of file joint.H.

Constructor & Destructor Documentation

◆ joint() [1/2]

joint	(	const rigidBodyModel &	model,
		const label	nDoF
	)

inline

Construct joint setting the size of the motion sub-space.

to the given degrees of freedom of the joint

Definition at line 28 of file jointI.H.

Referenced by joint::XSvc::XSvc().

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◆ joint() [2/2]

joint ( const joint & )

default

Copy constructor.

◆ ~joint()

~joint ( )

virtual

Destructor.

Definition at line 76 of file joint.C.

Referenced by joint::iNew::iNew().

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Member Function Documentation

◆ TypeName()

TypeName ( "joint" )

Runtime type information.

Referenced by joint::XSvc::XSvc().

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◆ declareRunTimeSelectionTable()

declareRunTimeSelectionTable	(	autoPtr	,
		joint	,
		dictionary	,
		(const rigidBodyModel &model, const dictionary &dict)	,
		(model, dict)
	)

Referenced by joint::XSvc::XSvc().

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◆ clone()

virtual autoPtr<joint> clone ( ) const

pure virtual

Clone this joint (needed by PtrList)

Implemented in composite, function, functionDot, floating, rotating, null, Rs, Rxyz, Ryxz, Rzyx, Pa, Px, Pxyz, Py, Pz, Ra, rigid, Rx, Ry, and Rz.

Referenced by joint::XSvc::XSvc().

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◆ New() [1/2]

Foam::autoPtr< Foam::RBD::joint > New ( joint * jointPtr )

static

Simple selector to return an autoPtr<joint> of the given joint*.

Definition at line 43 of file joint.C.

Referenced by joint::iNew::iNew(), joint::iNew::operator()(), and rigidBodyModel::rigidBodyModel().

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◆ New() [2/2]

Foam::autoPtr< Foam::RBD::joint > New	(	const rigidBodyModel &	model,
		const dictionary &	dict
	)

static

Select from dictionary.

Definition at line 50 of file joint.C.

References dict, Foam::endl(), Foam::exit(), Foam::FatalError, FatalErrorInFunction, dictionary::lookup(), and Foam::nl.

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◆ nDoF()

Foam::label nDoF ( ) const

inline

Return the number of degrees of freedom in this joint.

Definition at line 39 of file jointI.H.

References joint::S_.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), joint::iNew::iNew(), rigidBodyModel::join_(), and joint::XSvc::XSvc().

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◆ unitQuaternion() [1/3]

bool unitQuaternion ( ) const

inlinevirtual

Return true if this joint describes rotation using a quaternion.

Reimplemented in Rs.

Definition at line 44 of file jointI.H.

Referenced by joint::iNew::iNew(), Rs::jcalc(), rigidBodyModel::join_(), joint::operator=(), and joint::unitQuaternion().

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◆ index()

Foam::label index ( ) const

inline

Return the index of this joint in the model.

Definition at line 49 of file jointI.H.

References joint::index_.

◆ qIndex()

Foam::label qIndex ( ) const

inline

Return start index for the state variables for this joint.

in the rigidBodyModel state fields

Definition at line 54 of file jointI.H.

References joint::qIndex_.

◆ S()

const Foam::List< Foam::spatialVector > & S ( ) const

inline

Return the joint motion sub-space.

Definition at line 59 of file jointI.H.

References joint::S_.

Referenced by function::jcalc(), and functionDot::jcalc().

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◆ jcalc()

virtual void jcalc	(	XSvc &	J,
		const rigidBodyModelState &	state
	)		const

pure virtual

Update the rigidBodyModel state for the joint given.

the joint state q, w and velocity qDot

Implemented in composite, function, functionDot, rotating, Rs, null, Rxyz, Ryxz, Rzyx, Pa, Px, Pxyz, Py, Pz, Ra, rigid, Rx, Ry, and Rz.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), and joint::iNew::iNew().

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◆ write()

void write ( Ostream & os ) const

virtual

Write.

Reimplemented in composite, Pa, Ra, and floating.

Definition at line 82 of file joint.C.

References Foam::type(), and Foam::writeEntry().

Referenced by joint::iNew::iNew(), Foam::RBD::operator<<(), floating::write(), Ra::write(), Pa::write(), and composite::write().

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◆ operator=()

void operator= ( const joint & j )

inline

Assignment.

Definition at line 67 of file jointI.H.

References joint::index_, joint::qIndex_, joint::S_, and joint::unitQuaternion().

Referenced by joint::iNew::iNew().

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◆ unitQuaternion() [2/3]

Foam::quaternion unitQuaternion ( const scalarField & q ) const

inline

Return the unit quaternion for this joint.

if it uses a quaternion representation for rotation

Definition at line 76 of file jointI.H.

References Foam::abort(), Field< Type >::block(), Foam::FatalError, FatalErrorInFunction, joint::qIndex_, quaternion::unit(), and joint::unitQuaternion().

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◆ unitQuaternion() [3/3]

void unitQuaternion	(	const quaternion &	quat,
		scalarField &	q
	)		const

inline

Set the unit quaternion for this joint.

if it uses a quaternion representation for rotation

Definition at line 92 of file jointI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, joint::qIndex_, joint::unitQuaternion(), quaternion::v(), Vector< Cmpt >::x(), Vector< Cmpt >::y(), and Vector< Cmpt >::z().

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Friends And Related Function Documentation

◆ rigidBodyModel

friend class rigidBodyModel

friend

Allow the rigidBodyModel class to set the joint indices.

Definition at line 120 of file joint.H.

◆ operator<<

Ostream& operator<<	(	Ostream &	,
		const joint &
	)

friend

Referenced by joint::iNew::iNew().

Member Data Documentation

◆ model_

const rigidBodyModel& model_

protected

Reference to the model.

Definition at line 88 of file joint.H.

Referenced by joint::iNew::operator()().

◆ S_

List<spatialVector> S_

protected

Joint motion sub-space.

Definition at line 91 of file joint.H.

Referenced by Pa::jcalc(), Px::jcalc(), Rx::jcalc(), Py::jcalc(), Ry::jcalc(), Pz::jcalc(), Rz::jcalc(), Ra::jcalc(), joint::nDoF(), joint::operator=(), Pa::Pa(), Px::Px(), Pxyz::Pxyz(), Py::Py(), Pz::Pz(), Ra::Ra(), Rs::Rs(), Rx::Rx(), Rxyz::Rxyz(), Ry::Ry(), Ryxz::Ryxz(), Rz::Rz(), Rzyx::Rzyx(), joint::S(), Pa::write(), and Ra::write().

◆ index_

label index_

protected

Index of this joint in the rigidBodyModel.

Definition at line 94 of file joint.H.

Referenced by joint::index(), and joint::operator=().

◆ qIndex_

label qIndex_

protected

Index of this joints data in the rigidBodyModel state.

Definition at line 97 of file joint.H.

Referenced by Pa::jcalc(), Px::jcalc(), Rz::jcalc(), Pz::jcalc(), Ra::jcalc(), Rx::jcalc(), Pxyz::jcalc(), Ry::jcalc(), Py::jcalc(), Ryxz::jcalc(), Rzyx::jcalc(), Rxyz::jcalc(), Rs::jcalc(), joint::operator=(), joint::qIndex(), and joint::unitQuaternion().

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

src/rigidBodyDynamics/joints/joint/joint.H
src/rigidBodyDynamics/joints/joint/joint.C
src/rigidBodyDynamics/joints/joint/jointI.H

Classes

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ joint() [1/2]

◆ joint() [2/2]

◆ ~joint()

Member Function Documentation

◆ TypeName()

◆ declareRunTimeSelectionTable()

◆ clone()

◆ New() [1/2]

◆ New() [2/2]

◆ nDoF()

◆ unitQuaternion() [1/3]

◆ index()

◆ qIndex()

◆ S()

◆ jcalc()

◆ write()

◆ operator=()

◆ unitQuaternion() [2/3]

◆ unitQuaternion() [3/3]

Friends And Related Function Documentation

◆ rigidBodyModel

◆ operator<<

Member Data Documentation

◆ model_

◆ S_

◆ index_

◆ qIndex_