Rzyx.H
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23 
24 Class
25  Foam::RBD::joints::Rzyx
26 
27 Description
28  Spherical joint for rotation about the x/y/z-axes using Euler-angles
29  in the order z, y, x.
30 
31  Reference:
32  \verbatim
33  Featherstone, R. (2008).
34  Rigid body dynamics algorithms.
35  Springer.
36  Chapter 4.
37  \endverbatim
38 
39 SourceFiles
40  Rzyx.C
41 
42 \*---------------------------------------------------------------------------*/
43 
44 #ifndef RBD_joints_Rzyx_H
45 #define RBD_joints_Rzyx_H
46 
47 #include "joint.H"
48 
49 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
50 
51 namespace Foam
52 {
53 namespace RBD
54 {
55 namespace joints
56 {
57 
58 /*---------------------------------------------------------------------------*\
59  Class Rzyx Declaration
60 \*---------------------------------------------------------------------------*/
61 
62 class Rzyx
63 :
64  public joint
65 {
66 
67 public:
68 
69  //- Runtime type information
70  TypeName("Rzyx");
71 
72 
73  // Constructors
74 
75  //- Construct for given model
76  Rzyx();
77 
78  //- Construct for given model from dictionary
79  Rzyx(const dictionary& dict);
80 
81  //- Clone this joint
82  virtual autoPtr<joint> clone() const;
83 
84 
85  //- Destructor
86  virtual ~Rzyx();
87 
88 
89  // Member Functions
90 
91  //- Update the model state for this joint
92  virtual void jcalc
93  (
94  joint::XSvc& J,
95  const scalarField& q,
96  const scalarField& qDot
97  ) const;
98 };
99 
100 
101 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
102 
103 } // End namespace joints
104 } // End namespace RBD
105 } // End namespace Foam
106 
107 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
108 
109 #endif
110 
111 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:79
dictionary dict
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:137
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Definition: Rzyx.C:88
Joint state returned by jcalc.
Definition: joint.H:119
Spherical joint for rotation about the x/y/z-axes using Euler-angles in the order z...
Definition: Rzyx.H:61
TypeName("Rzyx")
Runtime type information.
Rzyx()
Construct for given model.
Definition: Rzyx.C:53
virtual ~Rzyx()
Destructor.
Definition: Rzyx.C:81
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Definition: PtrList.H:52
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Rzyx.C:73
Namespace for OpenFOAM.