84 const scalar t = state.
t(), deltaT = state.
deltaT();
86 if (t < vSmall || deltaT < vSmall)
93 const vector theta = omega_->integral(0, t);
94 const scalar magTheta =
mag(theta);
Macros for easy insertion into run-time selection tables.
Run-time selectable general function of one variable.
Joint state returned by jcalc.
spatialVector c
The constrained joint acceleration correction.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
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.
Joint with a specified rotational speed.
virtual autoPtr< joint > clone() const
Clone this joint.
rotating(const rigidBodyModel &model, const dictionary &dict)
Construct for given model from dictionary.
virtual ~rotating()
Destructor.
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.
scalar t() const
Return access to the time.
scalar deltaT() const
Return access to the time-step.
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....
const Type & value() const
Return const reference to value.
Convenience class to handle the input of constant rotational speed. Reads an omega entry with default...
Quaternion class used to perform rotations in 3D space.
tensor R() const
The rotation tensor corresponding the quaternion.
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
autoPtr< CompressibleMomentumTransportModel > New(const volScalarField &rho, const volVectorField &U, const surfaceScalarField &phi, const viscosity &viscosity)
const dimensionSet dimTime
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
dimensioned< scalar > mag(const dimensioned< Type > &)
static scalar R(const scalar a, const scalar x)
const unitConversion unitRadians