rigidBodySolverI.H
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25 
26 // * * * * * * * * * * * * * Protected Member Functions * * * * * * * * * * //
27 
29 {
30  return model_.motionState_;
31 }
32 
33 
35 {
36  return state().q();
37 }
38 
39 
41 {
42  return state().qDot();
43 }
44 
45 
47 {
48  return state().qDdot();
49 }
50 
51 
52 inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT() const
53 {
54  return model_.motionState_.deltaT();
55 }
56 
57 
60 {
61  return model_.motionState0_;
62 }
63 
65 {
66  return state0().q();
67 }
68 
69 
71 {
72  return state0().qDot();
73 }
74 
75 
77 {
78  return state0().qDdot();
79 }
80 
81 
82 inline Foam::scalar Foam::RBD::rigidBodySolver::deltaT0() const
83 {
84  return model_.motionState0_.deltaT();
85 }
86 
87 
88 // ************************************************************************* //
rigidBodyMotion & model_
The rigid-body model.
const rigidBodyModelState & state0() const
Return the previous motion state.
const scalarField & qDdot0() const
Return the current joint acceleration.
rigidBodyModelState & state()
Return the motion state.
scalar deltaT0() const
Return the previous time-step.
scalarField & q()
Return the current joint position and orientation.
Holds the motion state of rigid-body model.
scalar deltaT() const
Return the current time-step.
const scalarField & q0() const
Return the current joint position and orientation.
const scalarField & q() const
Return access to the joint position and orientation.
const scalarField & qDot() const
Return access to the joint velocity.
const scalarField & qDot0() const
Return the current joint quaternion.
scalar deltaT() const
Return access to the time-step.
scalarField & qDot()
Return the current joint quaternion.
scalarField & qDdot()
Return the current joint acceleration.
const scalarField & qDdot() const
Return access to the joint acceleration.