Py.C
Go to the documentation of this file.
1 /*---------------------------------------------------------------------------*\
2  ========= |
3  \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
4  \\ / O peration | Website: https://openfoam.org
5  \\ / A nd | Copyright (C) 2016-2024 OpenFOAM Foundation
6  \\/ M anipulation |
7 -------------------------------------------------------------------------------
8 License
9  This file is part of OpenFOAM.
10 
11  OpenFOAM is free software: you can redistribute it and/or modify it
12  under the terms of the GNU General Public License as published by
13  the Free Software Foundation, either version 3 of the License, or
14  (at your option) any later version.
15 
16  OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
18  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
19  for more details.
20 
21  You should have received a copy of the GNU General Public License
22  along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
23 
24 \*---------------------------------------------------------------------------*/
25 
26 #include "Py.H"
27 #include "rigidBodyModelState.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace joints
37 {
39 
41  (
42  joint,
43  Py,
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
52 
54 :
55  joint(model, 1)
56 {
57  S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
58 }
59 
60 
62 :
63  joint(model, 1)
64 {
65  S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
66 }
67 
68 
70 {
71  return autoPtr<joint>(new Py(*this));
72 }
73 
74 
75 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
76 
78 {}
79 
80 
81 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
82 
84 (
85  joint::XSvc& J,
86  const rigidBodyModelState& state
87 ) const
88 {
89  J.X = Xt(S_[0].l()*state.q()[qIndex_]);
90  J.S1 = S_[0];
91  J.v = S_[0]*state.qDot()[qIndex_];
92  J.c = Zero;
93 }
94 
95 
96 // ************************************************************************* //
Macros for easy insertion into run-time selection tables.
Joint state returned by jcalc.
Definition: joint.H:124
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:141
spatialVector v
The constrained joint velocity.
Definition: joint.H:137
spatialVector S1
The joint motion sub-space (1-DoF)
Definition: joint.H:134
spatialTransform X
The joint transformation.
Definition: joint.H:128
Abstract base-class for all rigid-body joints.
Definition: joint.H:81
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:91
Prismatic joint for translation along the y-axis.
Definition: Py.H:63
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Py.C:69
Py(const rigidBodyModel &model)
Construct for given model.
Definition: Py.C:53
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: Py.C:84
virtual ~Py()
Destructor.
Definition: Py.C:77
Holds the motion state of rigid-body model.
const scalarField & qDot() const
Return access to the joint velocity.
const scalarField & q() const
Return access to the joint position and orientation.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Definition: autoPtr.H:51
A list of keyword definitions, which are a keyword followed by any number of values (e....
Definition: dictionary.H:162
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
Namespace for OpenFOAM.
static const zero Zero
Definition: zero.H:97
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
dictionary dict