Pa.C
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25 
26 #include "Pa.H"
27 #include "rigidBodyModel.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace joints
37 {
39 
41  (
42  joint,
43  Pa,
44  dictionary
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
52 
54 :
55  joint(1)
56 {
57  S_[0] = spatialVector(Zero, axis/mag(axis));
58 }
59 
60 
62 :
63  joint(1)
64 {
65  vector axis(dict.lookup("axis"));
66  S_[0] = spatialVector(Zero, axis/mag(axis));
67 }
68 
69 
71 {
72  return autoPtr<joint>(new Pa(*this));
73 }
74 
75 
76 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
77 
79 {}
80 
81 
82 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
83 
85 (
86  joint::XSvc& J,
87  const scalarField& q,
88  const scalarField& qDot
89 ) const
90 {
91  J.X = Xt(S_[0].l()*q[qIndex_]);
92  J.S1 = S_[0];
93  J.v = S_[0]*qDot[qIndex_];
94  J.c = Zero;
95 }
96 
97 
99 {
100  joint::write(os);
101  os.writeKeyword("axis")
102  << S_[0].l() << token::END_STATEMENT << nl;
103 }
104 
105 
106 // ************************************************************************* //
virtual ~Pa()
Destructor.
Definition: Pa.C:78
Abstract base-class for all rigid-body joints.
Definition: joint.H:79
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
dictionary dict
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:137
spatialVector v
The constrained joint velocity.
Definition: joint.H:133
spatialVector S1
The joint motion sub-space (1-DoF)
Definition: joint.H:130
label qIndex_
Index of this joints data in the rigidBodyModel state.
Definition: joint.H:93
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
Pa(const vector &axis)
Construct for given model and axis.
Definition: Pa.C:53
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:137
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.
Definition: Pa.C:85
Joint state returned by jcalc.
Definition: joint.H:119
virtual void write(Ostream &) const
Write.
Definition: joint.C:81
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Pa.C:70
static const zero Zero
Definition: zero.H:91
virtual void write(Ostream &) const
Write.
Definition: Pa.C:98
An Ostream is an abstract base class for all output systems (streams, files, token lists...
Definition: Ostream.H:53
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:87
static const char nl
Definition: Ostream.H:262
Ostream & writeKeyword(const keyType &)
Write the keyword followed by an appropriate indentation.
Definition: Ostream.C:54
spatialTransform X
The joint transformation.
Definition: joint.H:124
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...
Definition: PtrList.H:52
Namespace for OpenFOAM.
ITstream & lookup(const word &, bool recursive=false, bool patternMatch=true) const
Find and return an entry data stream.
Definition: dictionary.C:576