Ra Class Reference

Revolute joint for rotation about the specified arbitrary axis. More...

Inheritance diagram for Ra:

Collaboration diagram for Ra:

Public Member Functions
	TypeName ("Ra")
	Runtime type information. More...
	Ra (const rigidBodyModel &model, const vector &axis)
	Construct for given model and axis. More...
	Ra (const rigidBodyModel &model, const dictionary &dict)
	Construct for given model from dictionary. More...
virtual autoPtr< joint >	clone () const
	Clone this joint. More...
virtual	~Ra ()
	Destructor. More...
virtual void	jcalc (joint::XSvc &J, const rigidBodyModelState &state) const
	Update the model state for this joint. More...
virtual void	write (Ostream &) const
	Write. More...
Public Member Functions inherited from joint
	TypeName ("joint")
	Runtime type information. More...
	declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const rigidBodyModel &model, const dictionary &dict),(model, dict))
	joint (const rigidBodyModel &model, const label nDoF)
	Construct joint setting the size of the motion sub-space. More...
	joint (const joint &)=default
	Copy constructor. More...
virtual	~joint ()
	Destructor. More...
label	nDoF () const
	Return the number of degrees of freedom in this joint. More...
virtual bool	unitQuaternion () const
	Return true if this joint describes rotation using a quaternion. More...
label	index () const
	Return the index of this joint in the model. More...
label	qIndex () const
	Return start index for the state variables for this joint. More...
const List< spatialVector > &	S () const
	Return the joint motion sub-space. More...
void	operator= (const joint &j)
	Assignment. More...
quaternion	unitQuaternion (const scalarField &q) const
	Return the unit quaternion for this joint. More...
void	unitQuaternion (const quaternion &quat, scalarField &q) const
	Set the unit quaternion for this joint. More...

Additional Inherited Members
Static Public Member Functions inherited from joint
static autoPtr< joint >	New (joint *jointPtr)
	Simple selector to return an autoPtr<joint> of the given joint*. More...
static autoPtr< joint >	New (const rigidBodyModel &model, const dictionary &dict)
	Select from dictionary. More...
Protected Attributes inherited from joint
const rigidBodyModel &	model_
	Reference to the model. More...
List< spatialVector >	S_
	Joint motion sub-space. More...
label	index_
	Index of this joint in the rigidBodyModel. More...
label	qIndex_
	Index of this joints data in the rigidBodyModel state. More...

Detailed Description

Revolute joint for rotation about the specified arbitrary axis.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
    Chapter 4.

Source files

• Ra.H
• Ra.C

Definition at line 60 of file Ra.H.

Constructor & Destructor Documentation

Ra() [1/2]

Ra	(	const rigidBodyModel &	model,
		const vector &	axis
	)

Construct for given model and axis.

Definition at line 53 of file Ra.C.

References Foam::mag(), joint::S_, and Foam::Zero.

Referenced by Ra::clone().

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Ra() [2/2]

Ra	(	const rigidBodyModel &	model,
		const dictionary &	dict
	)

Construct for given model from dictionary.

Definition at line 61 of file Ra.C.

References dictionary::lookup(), Foam::mag(), joint::S_, and Foam::Zero.

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~Ra()

~Ra ( )

virtual

Destructor.

Definition at line 78 of file Ra.C.

References Ra::jcalc().

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Member Function Documentation

TypeName()

TypeName

(

"Ra"

)

Runtime type information.

clone()

Foam::autoPtr< Foam::RBD::joint > clone ( ) const

virtual

Clone this joint.

Implements joint.

Definition at line 70 of file Ra.C.

References Ra::Ra().

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jcalc()

void jcalc ( joint::XSvc &  J, const rigidBodyModelState &  state  ) const

virtual

Update the model state for this joint.

Implements joint.

Definition at line 85 of file Ra.C.

References joint::XSvc::c, rigidBodyModelState::q(), rigidBodyModelState::qDot(), joint::qIndex_, joint::XSvc::S1, joint::S_, joint::XSvc::v, joint::XSvc::X, Foam::Xr(), and Foam::Zero.

Referenced by Ra::~Ra().

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write()

void write ( Ostream &  os ) const

virtual

Write.

Reimplemented from joint.

Definition at line 97 of file Ra.C.

References joint::S_, joint::write(), and Foam::writeEntry().

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The documentation for this class was generated from the following files:

• src/rigidBodyDynamics/joints/Ra/Ra.H
• src/rigidBodyDynamics/joints/Ra/Ra.C