99 scalar s0 =
sin(qj.
x());
100 scalar c0 =
cos(qj.
x());
101 scalar s1 =
sin(qj.
y());
103 scalar s2 =
sin(qj.
z());
109 c0*s1*s2 - s0*c2, s0*s1*s2 + c0*c2, c1*s2,
110 c0*s1*c2 + s0*s2, s0*s1*c2 - c0*s2, c1*c2
127 -c1*qDotj.
x()*qDotj.
y(),
129 -s1*s2*qDotj.
x()*qDotj.
y()
130 + c1*c2*qDotj.
x()*qDotj.
z()
131 - s2*qDotj.
y()*qDotj.
z(),
133 -s1*c2*qDotj.
x()*qDotj.
y()
134 - c1*s2*qDotj.
x()*qDotj.
z()
135 - c2*qDotj.
y()*qDotj.
z(),
Abstract base-class for all rigid-body joints.
A list of keyword definitions, which are a keyword followed by any number of values (e...
spatialVector v
The constrained joint velocity.
const dimensionedScalar & c1
First radiation constant: default SI units: [W/m^2].
label qIndex_
Index of this joints data in the rigidBodyModel state.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
spatialVector c
The constrained joint acceleration correction.
Macros for easy insertion into run-time selection tables.
Holds the motion state of rigid-body model.
Joint state returned by jcalc.
dimensionedScalar cos(const dimensionedScalar &ds)
const scalarField & q() const
Return access to the joint position and orientation.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
const scalarField & qDot() const
Return access to the joint velocity.
VSForm block(const label start) const
joint(const rigidBodyModel &model, const label nDoF)
Construct joint setting the size of the motion sub-space.
dimensionedScalar sin(const dimensionedScalar &ds)
List< spatialVector > S_
Joint motion sub-space.
spatialTransform X
The joint transformation.
virtual ~Rzyx()
Destructor.
Rzyx(const rigidBodyModel &model)
Construct for given model.
const dimensionedScalar & c2
Second radiation constant: default SI units: [m K].
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
virtual autoPtr< joint > clone() const
Clone this joint.
Tensor< scalar > tensor
Tensor of scalars.
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.