Rs Class Reference

Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimble-lock. More...

Inheritance diagram for Rs:

Collaboration diagram for Rs:

Public Member Functions
	TypeName ("Rs")
	Runtime type information. More...
	Rs (const rigidBodyModel &model)
	Construct for given model. More...
	Rs (const rigidBodyModel &model, const dictionary &dict)
	Construct for given model from dictionary. More...
virtual autoPtr< joint >	clone () const
	Clone this joint. More...
virtual	~Rs ()
	Destructor. More...
virtual bool	unitQuaternion () const
	Return true as this joint describes rotation using a quaternion. More...
virtual void	jcalc (joint::XSvc &J, const rigidBodyModelState &state) const
	Update the model state for this joint. More...
Public Member Functions inherited from joint
	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	~joint ()
	Destructor. More...
label	nDoF () const
	Return the number of degrees of freedom in this joint. 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	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...

Additional Inherited Members
Static Public Member Functions inherited from joint
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 inherited from joint
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...

Detailed Description

Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimble-lock.

Reference:

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

Source files

• Rs.H
• Rs.C

Definition at line 61 of file Rs.H.

Constructor & Destructor Documentation

Rs() [1/2]

Rs

(

const rigidBodyModel &

model

)

Construct for given model.

Definition at line 53 of file Rs.C.

References joint::S_.

Referenced by Rs::clone().

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Rs() [2/2]

Rs	(	const rigidBodyModel &	model,
		const dictionary &	dict
	)

Construct for given model from dictionary.

Definition at line 63 of file Rs.C.

References joint::S_.

~Rs()

~Rs ( )

virtual

Destructor.

Definition at line 81 of file Rs.C.

Member Function Documentation

TypeName()

TypeName

(

"Rs"

)

Runtime type information.

clone()

Foam::autoPtr< Foam::RBD::joint > clone ( ) const

virtual

Clone this joint.

Implements joint.

Definition at line 73 of file Rs.C.

References Rs::Rs().

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unitQuaternion()

bool unitQuaternion ( ) const

virtual

Return true as this joint describes rotation using a quaternion.

Reimplemented from joint.

Definition at line 87 of file Rs.C.

References Rs::jcalc().

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jcalc()

void jcalc ( joint::XSvc &  J, const rigidBodyModelState &  state  ) const

virtual

Update the model state for this joint.

Implements joint.

Definition at line 94 of file Rs.C.

References Field< Type >::block(), joint::XSvc::c, spatialTransform::E(), rigidBodyModelState::q(), rigidBodyModelState::qDot(), joint::qIndex_, spatialTransform::r(), R, joint::XSvc::S, joint::unitQuaternion(), joint::XSvc::v, joint::XSvc::X, MatrixSpace< Form, Cmpt, Mrows, Ncols >::xx(), MatrixSpace< Form, Cmpt, Mrows, Ncols >::yy(), Foam::Zero, and MatrixSpace< Form, Cmpt, Mrows, Ncols >::zz().

Referenced by Rs::unitQuaternion().

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

• src/rigidBodyDynamics/joints/Rs/Rs.H
• src/rigidBodyDynamics/joints/Rs/Rs.C