Classes | Public Member Functions | Static Public Member Functions | Protected Attributes | Friends | List of all members
joint Class Referenceabstract

Abstract base-class for all rigid-body joints. More...

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Classes

class  iNew
 
class  XSvc
 Joint state returned by jcalc. More...
 

Public Member Functions

 TypeName ("joint")
 Runtime type information. More...
 
 declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const dictionary &dict),(dict))
 
 joint (const label nDoF)
 Construct joint setting the size of the motion sub-space. More...
 
virtual autoPtr< jointclone () const =0
 Clone this joint (needed by PtrList) More...
 
virtual ~joint ()
 Destructor. More...
 
label nDoF () const
 Return the number of degrees of freedom in this joint. More...
 
virtual bool unitQuaternion () const
 Return true if this joint describes rotation using a quaternion. More...
 
label index () const
 Return the index of this joint in the model. More...
 
label qIndex () const
 Return start index for the state variables for this joint. More...
 
const List< spatialVector > & S () const
 Return the joint motion sub-space. More...
 
virtual void jcalc (XSvc &J, const scalarField &q, const scalarField &qDot) const =0
 Update the rigidBodyModel state for the joint given. More...
 
virtual void write (Ostream &) const
 Write. More...
 
quaternion unitQuaternion (const scalarField &q) const
 Return the unit quaternion for this joint. More...
 
void unitQuaternion (const quaternion &quat, scalarField &q) const
 Set the unit quaternion for this joint. More...
 

Static Public Member Functions

static autoPtr< jointNew (joint *jointPtr)
 Simple selector to return an autoPtr<joint> of the given joint*. More...
 
static autoPtr< jointNew (const dictionary &dict)
 Select from dictionary. More...
 

Protected Attributes

List< spatialVectorS_
 Joint motion sub-space. More...
 
label index_
 Index of this joint in the rigidBodyModel. More...
 
label qIndex_
 Index of this joints data in the rigidBodyModel state. More...
 

Friends

class rigidBodyModel
 Allow the rigidBodyModel class to set the joint indices. More...
 
Ostreamoperator<< (Ostream &, const joint &)
 

Detailed Description

Abstract base-class for all rigid-body joints.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
    Chapter 4.
Source files

Definition at line 79 of file joint.H.

Constructor & Destructor Documentation

joint ( const label  nDoF)
inline

Construct joint setting the size of the motion sub-space.

to the given degrees of freedom of the joint

Definition at line 28 of file jointI.H.

Referenced by joint::XSvc::XSvc().

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~joint ( )
virtual

Destructor.

Definition at line 75 of file joint.C.

Referenced by joint::iNew::iNew().

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Member Function Documentation

TypeName ( "joint"  )

Runtime type information.

Referenced by joint::XSvc::XSvc().

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declareRunTimeSelectionTable ( autoPtr  ,
joint  ,
dictionary  ,
(const dictionary &dict ,
(dict  
)

Referenced by joint::XSvc::XSvc().

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virtual autoPtr<joint> clone ( ) const
pure virtual

Clone this joint (needed by PtrList)

Implemented in composite, floating, Rs, Rxyz, Ryxz, Rzyx, null, Pa, Px, Pxyz, Py, Pz, Ra, Rx, Ry, and Rz.

Referenced by joint::XSvc::XSvc().

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Foam::autoPtr< Foam::RBD::joint > New ( joint jointPtr)
static

Simple selector to return an autoPtr<joint> of the given joint*.

Definition at line 43 of file joint.C.

Referenced by joint::iNew::iNew(), joint::iNew::operator()(), and rigidBodyModel::rigidBodyModel().

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Foam::autoPtr< Foam::RBD::joint > New ( const dictionary dict)
static

Select from dictionary.

Definition at line 50 of file joint.C.

References dict, Foam::endl(), Foam::exit(), Foam::FatalError, FatalErrorInFunction, dictionary::lookup(), and Foam::nl.

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Foam::label nDoF ( ) const
inline

Return the number of degrees of freedom in this joint.

Definition at line 38 of file jointI.H.

References joint::S_.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), joint::iNew::iNew(), rigidBodyModel::join_(), and joint::XSvc::XSvc().

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bool unitQuaternion ( ) const
inlinevirtual

Return true if this joint describes rotation using a quaternion.

Reimplemented in Rs.

Definition at line 43 of file jointI.H.

Referenced by joint::iNew::iNew(), Rs::jcalc(), rigidBodyModel::join_(), joint::S(), and joint::unitQuaternion().

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Foam::label index ( ) const
inline

Return the index of this joint in the model.

Definition at line 48 of file jointI.H.

References joint::index_.

Foam::label qIndex ( ) const
inline

Return start index for the state variables for this joint.

in the rigidBodyModel state fields

Definition at line 53 of file jointI.H.

References joint::qIndex_.

const Foam::List< Foam::spatialVector > & S ( ) const
inline

Return the joint motion sub-space.

Definition at line 58 of file jointI.H.

References joint::S_, and joint::unitQuaternion().

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virtual void jcalc ( XSvc J,
const scalarField q,
const scalarField qDot 
) const
pure virtual

Update the rigidBodyModel state for the joint given.

the joint state q, w and velocity qDot

Implemented in composite, Rs, Rxyz, Ryxz, Rzyx, null, Pa, Px, Pxyz, Py, Pz, Ra, Rx, Ry, and Rz.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), and joint::iNew::iNew().

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void write ( Ostream os) const
virtual

Write.

Reimplemented in composite, Pa, Ra, and floating.

Definition at line 81 of file joint.C.

References token::END_STATEMENT, Foam::nl, Foam::type(), and Ostream::writeKeyword().

Referenced by joint::iNew::iNew(), Foam::RBD::operator<<(), floating::write(), Ra::write(), Pa::write(), and composite::write().

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Foam::quaternion unitQuaternion ( const scalarField q) const
inline

Return the unit quaternion for this joint.

if it uses a quaternion representation for rotation

Definition at line 67 of file jointI.H.

References Foam::abort(), Field< Type >::block(), Foam::FatalError, FatalErrorInFunction, joint::qIndex_, quaternion::unit(), and joint::unitQuaternion().

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void unitQuaternion ( const quaternion quat,
scalarField q 
) const
inline

Set the unit quaternion for this joint.

if it uses a quaternion representation for rotation

Definition at line 83 of file jointI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, joint::qIndex_, joint::unitQuaternion(), quaternion::v(), Vector< Cmpt >::x(), Vector< Cmpt >::y(), and Vector< Cmpt >::z().

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Friends And Related Function Documentation

friend class rigidBodyModel
friend

Allow the rigidBodyModel class to set the joint indices.

Definition at line 116 of file joint.H.

Ostream& operator<< ( Ostream ,
const joint  
)
friend

Referenced by joint::iNew::iNew().

Member Data Documentation

List<spatialVector> S_
protected
label index_
protected

Index of this joint in the rigidBodyModel.

Definition at line 90 of file joint.H.

Referenced by joint::index().

label qIndex_
protected

The documentation for this class was generated from the following files: