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

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Collaboration diagram for joint:

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< joint >	clone () 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< joint >	New (joint *jointPtr)
	Simple selector to return an autoPtr<joint> of the given joint*. More...

static autoPtr< joint >	New (const dictionary &dict)
	Select from dictionary. More...

Protected Attributes
List< spatialVector >	S_
	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...

Ostream &	operator<< (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

Joint motion sub-space.

Definition at line 87 of file joint.H.

Referenced by Pa::jcalc(), Py::jcalc(), Rx::jcalc(), Ry::jcalc(), Px::jcalc(), Pz::jcalc(), Rz::jcalc(), Ra::jcalc(), joint::nDoF(), Pa::Pa(), Px::Px(), Pxyz::Pxyz(), Py::Py(), Pz::Pz(), Ra::Ra(), Rs::Rs(), Rx::Rx(), Rxyz::Rxyz(), Ry::Ry(), Ryxz::Ryxz(), Rz::Rz(), Rzyx::Rzyx(), joint::S(), Ra::write(), and Pa::write().

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

Index of this joints data in the rigidBodyModel state.

Definition at line 93 of file joint.H.

Referenced by Pa::jcalc(), Px::jcalc(), Rz::jcalc(), Ra::jcalc(), Pxyz::jcalc(), Rx::jcalc(), Py::jcalc(), Ry::jcalc(), Pz::jcalc(), Rxyz::jcalc(), Rzyx::jcalc(), Ryxz::jcalc(), Rs::jcalc(), joint::qIndex(), and joint::unitQuaternion().

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

src/rigidBodyDynamics/joints/joint/joint.H
src/rigidBodyDynamics/joints/joint/joint.C
src/rigidBodyDynamics/joints/joint/jointI.H

Classes

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation