49 #ifndef RBD_rigidBodyModel_H 50 #define RBD_rigidBodyModel_H 67 Ostream&
operator<<(Ostream&,
const rigidBodyModel&);
69 class rigidBodyModelState;
83 void initializeRootBody();
198 const label parentID,
246 inline const vector&
g()
const;
268 const label parentID,
281 const label parentID,
293 const label parentID,
const subBody & mergedBody(label mergedBodyID) const
Return the merged body for the given body ID.
Ostream & operator<<(Ostream &, const rigidBody &)
const rigidBodyInertia & I(const label i) const
Return the inertia of body i.
DynamicList< vector > u_
Sub-expression tau - S^T.pA in the forward-dynamics algorithm.
intWM_LABEL_SIZE_t label
A label is an int32_t or int64_t as specified by the pre-processor macro WM_LABEL_SIZE.
DynamicList< spatialTransform > X0_
Transform for external forces to the bodies reference frame.
friend Ostream & operator<<(Ostream &, const rigidBodyModel &)
A list of keyword definitions, which are a keyword followed by any number of values (e...
DynamicList< spatialVector > pA_
Articulated body bias force.
void forwardDynamicsCorrection(const rigidBodyModelState &state) const
Correct the velocity and acceleration of the bodies in the model.
const spatialVector & v(const label i) const
Return the spatial velocity of the bodies.
label merge(const label parentID, const spatialTransform &X, autoPtr< rigidBody > bodyPtr)
Merge the given body with transform X into the parent with ID.
void applyRestraints(scalarField &tau, Field< spatialVector > &fx) const
Apply the restraints and accumulate the internal joint forces.
DynamicList< spatialTensor > IA_
Velocity-product acceleration.
label nBodies() const
Return the number of bodies in the model (bodies().size())
label mergedBodyID(const label mergedBodyIndex) const
Return the merged body ID for the given merged body index.
label master(label bodyID) const
Return the ID of the master body for a sub-body otherwise.
DynamicList< spatialVector > S1_
Motion subspace for joints with 1 degrees of freedom.
Holds the motion state of rigid-body model.
HashTable< label, word > bodyIDs_
Lookup-table of the IDs of the bodies.
PtrList< restraint > restraints_
Motion restraints.
DynamicList< spatialVector > v_
The spatial velocity of the bodies.
DynamicList< tensor > Dinv_
Sub-expression (S^T.U)^-1 in the forward-dynamics algorithm.
PtrList< joint > joints_
Each body it attached with a joint which are held on this list.
PtrList< rigidBody > bodies_
List of the bodies.
This specialized rigidBody holds the original body after it has been merged into a master...
A class for handling words, derived from string.
label mergedBodyIndex(const label mergedBodyID) const
Return the index of the merged body in the mergedBody list.
label nDoF_
The number of degrees of freedom of the model.
DynamicList< compactSpatialTensor > S_
Motion subspace for joints with 3 degrees of freedom.
const word & name(const label bodyID) const
Return the name of body with the given ID.
bool read(const dictionary &dict)
Read coefficients dictionary and update system parameters,.
const PtrList< joint > & joints() const
Return the list of joints in the model.
DynamicList< spatialTransform > XT_
Transform from the parent body frame to the joint frame.
TypeName("rigidBodyModel")
Runtime type information.
bool unitQuaternions() const
Return true if any of the joints using quaternions.
DynamicList< spatialVector > c_
The velocity dependent spatial acceleration of the joints.
An STL-conforming hash table.
virtual label join(const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
Join the given body to the parent with ID parentID via the given.
virtual void write(Ostream &) const
Write.
An Ostream is an abstract base class for all output systems (streams, files, token lists...
DynamicList< spatialTransform > Xlambda_
Transform from the parent body to the current body.
DynamicList< label > lambda_
List of indices of the parent of each body.
DynamicList< compactSpatialTensor > U_
Sub-expression IA.S in the forward-dynamics algorithm.
label nDoF() const
Return the number of degrees of freedom of the model.
const vector & g() const
Return the acceleration due to gravity.
PtrList< rigidBody > bodies() const
Return the list of the bodies in the model.
bool unitQuaternions_
True if any of the joints using quaternions.
PtrList< subBody > mergedBodies_
Bodies may be merged into existing bodies, the inertia of which is.
DynamicList< spatialVector > U1_
Sub-expression IA.S1 in the forward-dynamics algorithm.
wordList movingBodyNames() const
Return the names of the moving bodies.
A templated 1D list of pointers to objects of type <T>, where the size of the array is known and used...
virtual ~rigidBodyModel()
Destructor.
const DynamicList< label > & lambda() const
List of indices of the parent of each body.
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
label bodyID(const word &name) const
Return the ID of the body with the given name.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
spatialTransform X0(const label bodyId) const
Return the current transform to the global frame for the given body.
rigidBodyModel()
Null-constructor which adds the single root-body at the origin.
vector masterPoint(const label bodyID, const vector &p) const
virtual label join_(const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
Join the given body to the parent with ID parentID via the given.
void forwardDynamics(rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
Calculate the joint acceleration qDdot from the joint state q,.
bool merged(label bodyID) const
Return true if the body with given ID has been merged with a parent.
vector g_
Acceleration due to gravity.
DynamicList< spatialVector > a_
The spatial acceleration of the bodies.
This class represents the linear and angular inertia of a rigid body by the mass, centre of mass and ...