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compositeJoint.C
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25 
26 #include "compositeJoint.H"
27 #include "rigidBodyModel.H"
29 
30 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
31 
32 namespace Foam
33 {
34 namespace RBD
35 {
36 namespace joints
37 {
39 
41  (
42  joint,
43  composite,
45  );
46 }
47 }
48 }
49 
50 
51 // * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * * //
52 
53 void Foam::RBD::joints::composite::setLastJoint()
54 {
55  last().joint::operator=(*this);
56 }
57 
58 
59 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
60 
62 :
63  PtrList<joint>(joints),
64  joint(last())
65 {}
66 
67 
69 (
70  const rigidBodyModel& model,
71  const dictionary& dict
72 )
73 :
74  PtrList<joint>(dict.lookup("joints"), joint::iNew(model)),
75  joint(last())
76 {}
77 
78 
80 {
81  return autoPtr<joint>(new composite(*this));
82 }
83 
84 
85 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
86 
88 {}
89 
90 
91 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
92 
94 (
95  joint::XSvc& J,
96  const rigidBodyModelState& state
97 ) const
98 {
99  last().jcalc(J, state);
100 }
101 
102 
104 {
105  joint::write(os);
106  writeKeyword(os, "joints");
107  os << static_cast<const PtrList<joint>&>(*this);
108 }
109 
110 
111 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
Ostream & writeKeyword(Foam::Ostream &os, const keyType &kw)
Write the keyword to the Ostream with the current level of indentation.
Definition: keyType.C:155
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:158
virtual void write(Ostream &) const
Write.
virtual ~composite()
Destructor.
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
T & last()
Return reference to the last element of the list.
Definition: UPtrListI.H:57
Macros for easy insertion into run-time selection tables.
Holds the motion state of rigid-body model.
Prismatic joint for translation along the specified arbitrary axis.
Joint state returned by jcalc.
Definition: joint.H:123
virtual void write(Ostream &) const
Write.
Definition: joint.C:82
joint(const rigidBodyModel &model, const label nDoF)
Construct joint setting the size of the motion sub-space.
Definition: jointI.H:28
An Ostream is an abstract base class for all output systems (streams, files, token lists...
Definition: Ostream.H:54
virtual autoPtr< joint > clone() const
Clone this joint.
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
An auto-pointer similar to the STL auto_ptr but with automatic casting to a reference to the type and...
Definition: PtrList.H:52
composite(const PtrList< joint > &joints)
Construct for given PtrList<joint>
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
Namespace for OpenFOAM.
ITstream & lookup(const word &, bool recursive=false, bool patternMatch=true) const
Find and return an entry data stream.
Definition: dictionary.C:812