89 J.
X =
Xt(S_[0].l()*state.
q()[qIndex_]);
91 J.
v = S_[0]*state.
qDot()[qIndex_];
Macros for easy insertion into run-time selection tables.
Joint state returned by jcalc.
spatialVector c
The constrained joint acceleration correction.
spatialVector v
The constrained joint velocity.
spatialVector S1
The joint motion sub-space (1-DoF)
spatialTransform X
The joint transformation.
Abstract base-class for all rigid-body joints.
List< spatialVector > S_
Joint motion sub-space.
Prismatic joint for translation along the y-axis.
virtual autoPtr< joint > clone() const
Clone this joint.
Py(const rigidBodyModel &model)
Construct for given model.
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
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...
A list of keyword definitions, which are a keyword followed by any number of values (e....
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.