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Rs.H
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23 
24 Class
25  Foam::RBD::joints::Rs
26 
27 Description
28  Spherical joint for rotation about the x/y/z-axes using a quaternion
29  (Euler parameters) to avoid gimble-lock.
30 
31  Reference:
32  \verbatim
33  Featherstone, R. (2008).
34  Rigid body dynamics algorithms.
35  Springer.
36  Chapter 4.
37  \endverbatim
38 
39 SourceFiles
40  Rs.C
41 
42 \*---------------------------------------------------------------------------*/
43 
44 #ifndef RBD_joints_Rs_H
45 #define RBD_joints_Rs_H
46 
47 #include "joint.H"
48 
49 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
50 
51 namespace Foam
52 {
53 namespace RBD
54 {
55 namespace joints
56 {
57 
58 /*---------------------------------------------------------------------------*\
59  Class Rs Declaration
60 \*---------------------------------------------------------------------------*/
61 
62 class Rs
63 :
64  public joint
65 {
66 
67 public:
68 
69  //- Runtime type information
70  TypeName("Rs");
71 
72 
73  // Constructors
74 
75  //- Construct for given model
76  Rs(const rigidBodyModel& model);
77 
78  //- Construct for given model from dictionary
79  Rs(const rigidBodyModel& model, const dictionary& dict);
80 
81  //- Clone this joint
82  virtual autoPtr<joint> clone() const;
83 
84 
85  //- Destructor
86  virtual ~Rs();
87 
88 
89  // Member Functions
90 
91  //- Return true as this joint describes rotation using a quaternion
92  virtual bool unitQuaternion() const;
93 
94  //- Update the model state for this joint
95  virtual void jcalc
96  (
97  joint::XSvc& J,
98  const rigidBodyModelState& state
99  ) const;
100 };
101 
102 
103 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
104 
105 } // End namespace joints
106 } // End namespace RBD
107 } // End namespace Foam
108 
109 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
110 
111 #endif
112 
113 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
dictionary dict
virtual bool unitQuaternion() const
Return true as this joint describes rotation using a quaternion.
Definition: Rs.C:87
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:158
Rs(const rigidBodyModel &model)
Construct for given model.
Definition: Rs.C:53
Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimb...
Definition: Rs.H:61
Holds the motion state of rigid-body model.
Joint state returned by jcalc.
Definition: joint.H:123
virtual ~Rs()
Destructor.
Definition: Rs.C:81
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: Rs.C:94
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...
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Rs.C:73
Namespace for OpenFOAM.
TypeName("Rs")
Runtime type information.