Abstract base-class for all rigid-body joints.
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
A list of keyword definitions, which are a keyword followed by any number of values (e...
spatialVector v
The constrained joint velocity.
spatialVector S1
The joint motion sub-space (1-DoF)
label qIndex_
Index of this joints data in the rigidBodyModel state.
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
Pa(const vector &axis)
Construct for given model and axis.
spatialVector c
The constrained joint acceleration correction.
Macros for easy insertion into run-time selection tables.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Joint state returned by jcalc.
virtual void write(Ostream &) const
Write.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
virtual autoPtr< joint > clone() const
Clone this joint.
virtual void write(Ostream &) const
Write.
An Ostream is an abstract base class for all output systems (streams, files, token lists...
List< spatialVector > S_
Joint motion sub-space.
Ostream & writeKeyword(const keyType &)
Write the keyword followed by an appropriate indentation.
spatialTransform X
The joint transformation.
dimensioned< scalar > mag(const dimensioned< Type > &)
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
ITstream & lookup(const word &, bool recursive=false, bool patternMatch=true) const
Find and return an entry data stream.