Py.C
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24 \*---------------------------------------------------------------------------*/
25 
26 #include "Py.H"
27 #include "rigidBodyModelState.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace joints
37 {
39 
41  (
42  joint,
43  Py,
44  dictionary
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
52 
54 :
55  joint(model, 1)
56 {
57  S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
58 }
59 
60 
62 :
63  joint(model, 1)
64 {
65  S_[0] = spatialVector(0, 0, 0, 0, 1, 0);
66 }
67 
68 
70 {
71  return autoPtr<joint>(new Py(*this));
72 }
73 
74 
75 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
76 
78 {}
79 
80 
81 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
82 
84 (
85  joint::XSvc& J,
86  const rigidBodyModelState& state
87 ) const
88 {
89  J.X = Xt(S_[0].l()*state.q()[qIndex_]);
90  J.S1 = S_[0];
91  J.v = S_[0]*state.qDot()[qIndex_];
92  J.c = Zero;
93 }
94 
95 
96 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
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:158
spatialVector v
The constrained joint velocity.
Definition: joint.H:137
spatialVector S1
The joint motion sub-space (1-DoF)
Definition: joint.H:134
label qIndex_
Index of this joints data in the rigidBodyModel state.
Definition: joint.H:97
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:141
Macros for easy insertion into run-time selection tables.
Holds the motion state of rigid-body model.
Joint state returned by jcalc.
Definition: joint.H:123
const scalarField & q() const
Return access to the joint position and orientation.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:47
const scalarField & qDot() const
Return access to the joint velocity.
static const zero Zero
Definition: zero.H:97
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:91
spatialTransform X
The joint transformation.
Definition: joint.H:128
virtual ~Py()
Destructor.
Definition: Py.C:77
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: Py.C:84
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Definition: PtrList.H:52
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
Py(const rigidBodyModel &model)
Construct for given model.
Definition: Py.C:53
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Py.C:69
Namespace for OpenFOAM.