73 inline Ostream&
operator<<(Ostream&,
const joint&);
211 inline label index()
const;
215 inline label qIndex()
const;
Abstract base-class for all rigid-body joints.
Ostream & operator<<(Ostream &, const rigidBody &)
intWM_LABEL_SIZE_t label
A label is an int32_t or int64_t as specified by the pre-processor macro WM_LABEL_SIZE.
A list of keyword definitions, which are a keyword followed by any number of values (e...
spatialVector v
The constrained joint velocity.
A 1D array of objects of type <T>, where the size of the vector is known and used for subscript bound...
spatialVector S1
The joint motion sub-space (1-DoF)
label qIndex_
Index of this joints data in the rigidBodyModel state.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
An Istream is an abstract base class for all input systems (streams, files, token lists etc)...
declareRunTimeSelectionTable(autoPtr, joint, dictionary,(const dictionary &dict),(dict))
virtual autoPtr< joint > clone() const =0
Clone this joint (needed by PtrList)
label index_
Index of this joint in the rigidBodyModel.
spatialVector c
The constrained joint acceleration correction.
friend Ostream & operator<<(Ostream &, const joint &)
Joint state returned by jcalc.
virtual void write(Ostream &) const
Write.
virtual ~joint()
Destructor.
Quaternion class used to perform rotations in 3D space.
An Ostream is an abstract base class for all output systems (streams, files, token lists...
label nDoF() const
Return the number of degrees of freedom in this joint.
List< spatialVector > S_
Joint motion sub-space.
virtual void jcalc(XSvc &J, const scalarField &q, const scalarField &qDot) const =0
Update the rigidBodyModel state for the joint given.
spatialTransform X
The joint transformation.
joint(const label nDoF)
Construct joint setting the size of the motion sub-space.
TypeName("joint")
Runtime type information.
static autoPtr< joint > New(joint *jointPtr)
Simple selector to return an autoPtr<joint> of the given joint*.
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
Macros to ease declaration of run-time selection tables.
virtual bool unitQuaternion() const
Return true if this joint describes rotation using a quaternion.