rigid.H
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23 
24 Class
25  Foam::RBD::joints::rigid
26 
27 Description
28  Rigid joint
29 
30  Reference:
31  \verbatim
32  Featherstone, R. (2008).
33  Rigid body dynamics algorithms.
34  Springer.
35  Chapter 4.
36  \endverbatim
37 
38 SourceFiles
39  rigid.C
40 
41 \*---------------------------------------------------------------------------*/
42 
43 #ifndef RBD_joints_rigid_H
44 #define RBD_joints_rigid_H
45 
46 #include "joint.H"
47 
48 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
49 
50 namespace Foam
51 {
52 namespace RBD
53 {
54 namespace joints
55 {
56 
57 /*---------------------------------------------------------------------------*\
58  Class rigid Declaration
59 \*---------------------------------------------------------------------------*/
60 
61 class rigid
62 :
63  public joint
64 {
65 
66 public:
67 
68  //- Runtime type information
69  TypeName("rigid");
70 
71 
72  // Constructors
73 
74  //- Construct for given model
75  rigid(const rigidBodyModel& model);
76 
77  //- Construct for given model from dictionary
78  rigid(const rigidBodyModel& model, const dictionary& dict);
79 
80  //- Clone this joint
81  virtual autoPtr<joint> clone() const;
82 
83 
84  //- Destructor
85  virtual ~rigid();
86 
87 
88  // Member Functions
89 
90  //- Update the model state for this joint
91  virtual void jcalc
92  (
93  joint::XSvc& J,
94  const rigidBodyModelState& state
95  ) const;
96 };
97 
98 
99 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
100 
101 } // End namespace joints
102 } // End namespace RBD
103 } // End namespace Foam
104 
105 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
106 
107 #endif
108 
109 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
dictionary dict
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:158
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: rigid.C:69
TypeName("rigid")
Runtime type information.
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: rigid.C:84
Holds the motion state of rigid-body model.
rigid(const rigidBodyModel &model)
Construct for given model.
Definition: rigid.C:53
Joint state returned by jcalc.
Definition: joint.H:123
Rigid joint.
Definition: rigid.H:60
virtual ~rigid()
Destructor.
Definition: rigid.C:77
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...
Namespace for OpenFOAM.