Six degree of freedom motion for a rigid body. More...

Inheritance diagram for rigidBodyMotion:

Collaboration diagram for rigidBodyMotion:

Public Member Functions
	rigidBodyMotion ()
	Construct null. More...

	rigidBodyMotion (const dictionary &dict)
	Construct from dictionary. More...

	rigidBodyMotion (const dictionary &dict, const dictionary &stateDict)
	Construct from constant and state dictionaries. More...

	~rigidBodyMotion ()
	Destructor. More...

bool	report () const
	Return the report Switch. More...

const rigidBodyModelState &	state () const
	Return the motion state. More...

rigidBodyModelState &	state ()
	Return the motion state for modification. More...

spatialTransform	X00 (const label bodyId) const
	Return the initial transform to the global frame for the. More...

void	newTime ()
	Store the motion state at the beginning of the time-step. More...

void	forwardDynamics (rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
	Calculate and optionally relax the joint acceleration qDdot from. More...

void	solve (scalar deltaT, const scalarField &tau, const Field< spatialVector > &fx)
	Integrate velocities, orientation and position. More...

void	status (const label bodyID) const
	Report the status of the motion of the given body. More...

tmp< pointField >	transformPoints (const label bodyID, const pointField &initialPoints) const
	Transform the given initial pointField of the specified body. More...

tmp< pointField >	transformPoints (const label bodyID, const scalarField &weight, const pointField &initialPoints) const
	Transform the given initial pointField of the specified body. More...

tmp< pointField >	transformPoints (const labelList &bodyIDs, const List< const scalarField * > &weights, const pointField &initialPoints) const
	Transform the given initial pointField of the specified body. More...

void	write (Ostream &) const
	Write. More...

bool	read (const dictionary &dict)
	Read coefficients dictionary and update system parameters,. More...

Public Member Functions inherited from rigidBodyModel
	TypeName ("rigidBodyModel")
	Runtime type information. More...

	rigidBodyModel ()
	Null-constructor which adds the single root-body at the origin. More...

	rigidBodyModel (const dictionary &dict)
	Construct from dictionary. More...

virtual	~rigidBodyModel ()
	Destructor. More...

label	nBodies () const
	Return the number of bodies in the model (bodies().size()) More...

PtrList< rigidBody >	bodies () const
	Return the list of the bodies in the model. More...

const DynamicList< label > &	lambda () const
	List of indices of the parent of each body. More...

const PtrList< joint > &	joints () const
	Return the list of joints in the model. More...

label	nDoF () const
	Return the number of degrees of freedom of the model. More...

bool	unitQuaternions () const
	Return true if any of the joints using quaternions. More...

const vector &	g () const
	Return the acceleration due to gravity. More...

vector &	g ()
	Allow the acceleration due to gravity to be set. More...

const word &	name (const label bodyID) const
	Return the name of body with the given ID. More...

const rigidBodyInertia &	I (const label i) const
	Return the inertia of body i. More...

const spatialVector &	v (const label i) const
	Return the spatial velocity of the bodies. More...

virtual label	join (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
	Join the given body to the parent with ID parentID via the given. More...

label	join (const label parentID, const spatialTransform &XT, autoPtr< joints::composite > cJoint, autoPtr< rigidBody > bodyPtr)
	Join the given body to the parent with ID parentID via the given. More...

label	merge (const label parentID, const spatialTransform &X, autoPtr< rigidBody > bodyPtr)
	Merge the given body with transform X into the parent with ID. More...

bool	merged (label bodyID) const
	Return true if the body with given ID has been merged with a parent. More...

label	master (label bodyID) const
	Return the ID of the master body for a sub-body otherwise. More...

label	mergedBodyIndex (const label mergedBodyID) const
	Return the index of the merged body in the mergedBody list. More...

label	mergedBodyID (const label mergedBodyIndex) const
	Return the merged body ID for the given merged body index. More...

const subBody &	mergedBody (label mergedBodyID) const
	Return the merged body for the given body ID. More...

label	bodyID (const word &name) const
	Return the ID of the body with the given name. More...

spatialTransform	X0 (const label bodyId) const
	Return the current transform to the global frame for the given body. More...

vector	masterPoint (const label bodyID, const vector &p) const

spatialVector	v (const label bodyID, const vector &p) const
	Return the velocity of the given point on the given body. More...

void	applyRestraints (scalarField &tau, Field< spatialVector > &fx) const
	Apply the restraints and accumulate the internal joint forces. More...

void	forwardDynamics (rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
	Calculate the joint acceleration qDdot from the joint state q,. More...

void	forwardDynamicsCorrection (const rigidBodyModelState &state) const
	Correct the velocity and acceleration of the bodies in the model. More...

bool	read (const dictionary &dict)
	Read coefficients dictionary and update system parameters,. More...

Friends
class	rigidBodySolver

Additional Inherited Members
Protected Member Functions inherited from rigidBodyModel
virtual label	join_ (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
	Join the given body to the parent with ID parentID via the given. More...

Protected Attributes inherited from rigidBodyModel
PtrList< rigidBody >	bodies_
	List of the bodies. More...

PtrList< subBody >	mergedBodies_
	Bodies may be merged into existing bodies, the inertia of which is. More...

HashTable< label, word >	bodyIDs_
	Lookup-table of the IDs of the bodies. More...

DynamicList< label >	lambda_
	List of indices of the parent of each body. More...

PtrList< joint >	joints_
	Each body it attached with a joint which are held on this list. More...

DynamicList< spatialTransform >	XT_
	Transform from the parent body frame to the joint frame. More...

label	nDoF_
	The number of degrees of freedom of the model. More...

bool	unitQuaternions_
	True if any of the joints using quaternions. More...

PtrList< restraint >	restraints_
	Motion restraints. More...

vector	g_
	Acceleration due to gravity. More...

DynamicList< spatialTransform >	Xlambda_
	Transform from the parent body to the current body. More...

DynamicList< spatialTransform >	X0_
	Transform for external forces to the bodies reference frame. More...

DynamicList< spatialVector >	v_
	The spatial velocity of the bodies. More...

DynamicList< spatialVector >	a_
	The spatial acceleration of the bodies. More...

DynamicList< spatialVector >	c_
	The velocity dependent spatial acceleration of the joints. More...

DynamicList< spatialTensor >	IA_
	Velocity-product acceleration. More...

DynamicList< spatialVector >	pA_
	Articulated body bias force. More...

DynamicList< compactSpatialTensor >	S_
	Motion subspace for joints with 3 degrees of freedom. More...

DynamicList< spatialVector >	S1_
	Motion subspace for joints with 1 degrees of freedom. More...

DynamicList< compactSpatialTensor >	U_
	Sub-expression IA.S in the forward-dynamics algorithm. More...

DynamicList< spatialVector >	U1_
	Sub-expression IA.S1 in the forward-dynamics algorithm. More...

DynamicList< tensor >	Dinv_
	Sub-expression (S^T.U)^-1 in the forward-dynamics algorithm. More...

DynamicList< vector >	u_
	Sub-expression tau - S^T.pA in the forward-dynamics algorithm. More...

Detailed Description

Six degree of freedom motion for a rigid body.

Angular momentum stored in body fixed reference frame. Reference orientation of the body (where Q = I) must align with the cartesian axes such that the Inertia tensor is in principle component form. Can add restraints (e.g. a spring) and constraints (e.g. motion may only be on a plane).

The time-integrator for the motion is run-time selectable with options for symplectic (explicit), Crank-Nicolson and Newmark schemes.

Source files

Definition at line 67 of file rigidBodyMotion.H.

Constructor & Destructor Documentation

rigidBodyMotion ( )

Construct null.

Definition at line 45 of file rigidBodyMotion.C.

Referenced by rigidBodyMotion::rigidBodyMotion().

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rigidBodyMotion ( const dictionary & dict )

Construct from dictionary.

Definition at line 57 of file rigidBodyMotion.C.

References dictionary::found(), rigidBodyModel::g(), dictionary::lookup(), and rigidBodyMotion::rigidBodyMotion().

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rigidBodyMotion	(	const dictionary &	dict,
		const dictionary &	stateDict
	)

Construct from constant and state dictionaries.

Definition at line 80 of file rigidBodyMotion.C.

References dictionary::found(), rigidBodyModel::g(), and dictionary::lookup().

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~rigidBodyMotion ( )

Destructor.

Definition at line 105 of file rigidBodyMotion.C.

References rigidBodyMotion::X00().

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Member Function Documentation

bool report ( ) const

inline

Return the report Switch.

Definition at line 28 of file rigidBodyMotionI.H.

const Foam::RBD::rigidBodyModelState & state ( ) const

inline

Return the motion state.

Definition at line 35 of file rigidBodyMotionI.H.

Foam::RBD::rigidBodyModelState & state ( )

inline

Return the motion state for modification.

Definition at line 42 of file rigidBodyMotionI.H.

Foam::spatialTransform X00 ( const label bodyId ) const

Return the initial transform to the global frame for the.

given body

Definition at line 112 of file rigidBodyMotion.C.

References rigidBodyMotion::forwardDynamics(), subBody::masterID(), subBody::masterXT(), rigidBodyModel::merged(), and rigidBodyModel::mergedBody().

Referenced by rigidBodyMotion::transformPoints(), and rigidBodyMotion::~rigidBodyMotion().

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void newTime ( )

inline

Store the motion state at the beginning of the time-step.

Definition at line 48 of file rigidBodyMotionI.H.

void forwardDynamics	(	rigidBodyModelState &	state,
		const scalarField &	tau,
		const Field< spatialVector > &	fx
	)		const

Calculate and optionally relax the joint acceleration qDdot from.

the joint state q, velocity qDot, internal force tau (in the joint frame) and external force fx (in the global frame)

Definition at line 129 of file rigidBodyMotion.C.

References rigidBodyModel::forwardDynamics(), rigidBodyModelState::qDdot(), and rigidBodyMotion::solve().

Referenced by rigidBodyMotion::X00().

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void solve	(	scalar	deltaT,
		const scalarField &	tau,
		const Field< spatialVector > &	fx
	)

Integrate velocities, orientation and position.

for the given time-step

Definition at line 142 of file rigidBodyMotion.C.

References rigidBodyModelState::deltaT(), rigidBodyModel::forwardDynamicsCorrection(), UPstream::master(), and Pstream::scatter().

Referenced by rigidBodyMotion::forwardDynamics().

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void status ( const label bodyID ) const

Report the status of the motion of the given body.

Definition at line 167 of file rigidBodyMotion.C.

References spatialTransform::E(), Foam::endl(), Foam::Info, SpatialVector< Cmpt >::l(), rigidBodyModel::name(), Foam::nl, spatialTransform::r(), rigidBodyMotion::transformPoints(), rigidBodyModel::v(), SpatialVector< Cmpt >::w(), rigidBodyModel::X0(), and Foam::Zero.

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Foam::tmp< Foam::pointField > transformPoints	(	const label	bodyID,
		const pointField &	initialPoints
	)		const

Transform the given initial pointField of the specified body.

to correspond to the current motion state

Definition at line 182 of file rigidBodyMotion.C.

References forAll, Foam::inv(), points, tmp< T >::ref(), List< T >::size(), spatialTransform::transformPoint(), rigidBodyModel::X0(), and rigidBodyMotion::X00().

Referenced by rigidBodyMotion::status(), and rigidBodyMotion::transformPoints().

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Foam::tmp< Foam::pointField > transformPoints	(	const label	bodyID,
		const scalarField &	weight,
		const pointField &	initialPoints
	)		const

Transform the given initial pointField of the specified body.

to correspond to the current motion state scaled using 'slerp' interpolation

Definition at line 204 of file rigidBodyMotion.C.

References forAll, septernion::I, Foam::inv(), points, tmp< T >::ref(), s(), Foam::slerp(), spatialTransform::transformPoint(), rigidBodyMotion::transformPoints(), rigidBodyModel::X0(), and rigidBodyMotion::X00().

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Foam::tmp< Foam::pointField > transformPoints	(	const labelList &	bodyIDs,
		const List< const scalarField * > &	weights,
		const pointField &	initialPoints
	)		const