rotating.H
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23 
24 Class
25  Foam::RBD::joints::rotating
26 
27 Description
28  Joint with a specified rotational speed
29 
30  Reference:
31  \verbatim
32  Featherstone, R. (2008).
33  Rigid body dynamics algorithms.
34  Springer.
35  Chapter 4.
36  \endverbatim
37 
38 SourceFiles
39  rotating.C
40 
41 \*---------------------------------------------------------------------------*/
42 
43 #ifndef RBD_joints_rotating_H
44 #define RBD_joints_rotating_H
45 
46 #include "joint.H"
47 #include "Function1.H"
48 
49 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
50 
51 namespace Foam
52 {
53 namespace RBD
54 {
55 namespace joints
56 {
57 
58 /*---------------------------------------------------------------------------*\
59  Class rotating Declaration
60 \*---------------------------------------------------------------------------*/
61 
62 class rotating
63 :
64  public joint
65 {
66 private:
67 
68  // Private data
69 
70  //- Rotation vector function
72 
73 
74 public:
75 
76  //- Runtime type information
77  TypeName("rotating");
78 
79 
80  // Constructors
81 
82  //- Construct for given model from dictionary
83  rotating(const rigidBodyModel& model, const dictionary& dict);
84 
85  //- Clone this joint
86  virtual autoPtr<joint> clone() const;
87 
88 
89  //- Destructor
90  virtual ~rotating();
91 
92 
93  // Member Functions
94 
95  //- Update the model state for this joint
96  virtual void jcalc
97  (
98  joint::XSvc& J,
99  const rigidBodyModelState& state
100  ) const;
101 };
102 
103 
104 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
105 
106 } // End namespace joints
107 } // End namespace RBD
108 } // End namespace Foam
109 
110 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
111 
112 #endif
113 
114 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
dictionary dict
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:156
Holds the motion state of rigid-body model.
Joint state returned by jcalc.
Definition: joint.H:123
Joint with a specified rotational speed.
Definition: rotating.H:61
virtual ~rotating()
Destructor.
Definition: rotating.C:72
rotating(const rigidBodyModel &model, const dictionary &dict)
Construct for given model from dictionary.
Definition: rotating.C:54
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: rotating.C:79
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...
TypeName("rotating")
Runtime type information.
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: rotating.C:64
Namespace for OpenFOAM.