virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Abstract base-class for all rigid-body joints.
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)
spatialVector c
The constrained joint acceleration correction.
Macros for easy insertion into run-time selection tables.
Holds the motion state of rigid-body model.
Joint state returned by jcalc.
spatialTransform Xry(const scalar &omega)
Rotational spatial transformation tensor about the x-axis by omega radians.
const scalarField & q() const
Return access to the joint position and orientation.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
const scalarField & qDot() const
Return access to the joint velocity.
Ry(const rigidBodyModel &model)
Construct for given model.
List< spatialVector > S_
Joint motion sub-space.
spatialTransform X
The joint transformation.
tensor Ry(const scalar &omega)
Rotational transformation tensor about the y-axis by omega radians.
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...
virtual autoPtr< joint > clone() const
Clone this joint.