rotating.H

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License
    This file is part of OpenFOAM.
 
    OpenFOAM is free software: you can redistribute it and/or modify it
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Class
    Foam::RBD::joints::rotating
 
Description
    Joint with a specified rotational speed
 
    Reference:
    \verbatim
        Featherstone, R. (2008).
        Rigid body dynamics algorithms.
        Springer.
        Chapter 4.
    \endverbatim
 
SourceFiles
    rotating.C
 
\*---------------------------------------------------------------------------*/
 
#ifndef RBD_joints_rotating_H
#define RBD_joints_rotating_H
 
#include "joint.H"
#include "Function1.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
namespace Foam
{
namespace RBD
{
namespace joints
{
 
/*---------------------------------------------------------------------------*\
                         Class rotating Declaration
\*---------------------------------------------------------------------------*/
 
class rotating
:
    public joint
{
private:
 
    // Private data
 
        //- Rotation vector function
        autoPtr<Function1<vector>> omega_;
 
 
public:
 
    //- Runtime type information
    TypeName("rotating");
 
 
    // Constructors
 
        //- Construct for given model from dictionary
        rotating(const rigidBodyModel& model, const dictionary& dict);
 
        //- Clone this joint
        virtual autoPtr<joint> clone() const;
 
 
    //- Destructor
    virtual ~rotating();
 
 
    // Member Functions
 
        //- Update the model state for this joint
        virtual void jcalc
        (
            joint::XSvc& J,
            const rigidBodyModelState& state
        ) const;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace joints
} // End namespace RBD
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //