96 scalar s0 =
sin(qj.
x());
97 scalar c0 =
cos(qj.
x());
98 scalar s1 =
sin(qj.
y());
100 scalar s2 =
sin(qj.
z());
105 c2*c1, s2*c0 + c2*s1*s0, s2*s0 - c2*s1*c0,
106 -s2*c1, c2*c0 - s2*s1*s0, c2*s0 + s2*s1*c0,
124 -s2*c1*qDotj.
z()*qDotj.
x()
125 - c2*s1*qDotj.
y()*qDotj.
x()
126 + c2*qDotj.
z()*qDotj.
y(),
128 -c2*c1*qDotj.
z()*qDotj.
x()
129 + s2*s1*qDotj.
y()*qDotj.
x()
130 - s2*qDotj.
z()*qDotj.
y(),
132 c1*qDotj.
y()*qDotj.
x(),
Abstract base-class for all rigid-body joints.
A list of keyword definitions, which are a keyword followed by any number of values (e...
spatialVector v
The constrained joint velocity.
label qIndex_
Index of this joints data in the rigidBodyModel state.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
const dimensionedScalar c2
Second radiation constant: default SI units: [m.K].
defineTypeNameAndDebug(composite, 0)
Rxyz()
Construct for given model.
addToRunTimeSelectionTable(joint, composite, dictionary)
spatialVector c
The constrained joint acceleration correction.
Macros for easy insertion into run-time selection tables.
Joint state returned by jcalc.
dimensionedScalar cos(const dimensionedScalar &ds)
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
VSForm block(const label start) const
virtual ~Rxyz()
Destructor.
dimensionedScalar sin(const dimensionedScalar &ds)
List< spatialVector > S_
Joint motion sub-space.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
spatialTransform X
The joint transformation.
const dimensionedScalar c1
First radiation constant: default SI units: [W/m2].
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
virtual autoPtr< joint > clone() const
Clone this joint.
Tensor< scalar > tensor
Tensor of scalars.