compositeJoint.H

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License
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Class
    Foam::RBD::joints::composite

Description
    Prismatic joint for translation along the specified arbitrary axis.

    Reference:
    \verbatim
        Featherstone, R. (2008).
        Rigid body dynamics algorithms.
        Springer.
        Chapter 4.
    \endverbatim

SourceFiles
    composite.C

\*---------------------------------------------------------------------------*/

#ifndef compositeJoint_H
#define compositeJoint_H

#include "joint.H"

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

namespace Foam
{
namespace RBD
{

// Forward declaration of classes
class rigidBodyModel;

namespace joints
{

/*---------------------------------------------------------------------------*\
                         Class composite Declaration
\*---------------------------------------------------------------------------*/

class composite
:
    public PtrList<joint>,
    public joint
{
    // Private Member Functions

        //- Set the properties of the last joint following construction
        //  of the body containing the joint
        void setLastJoint();


public:

    //- Runtime type information
    TypeName("composite");

    //- Allow the rigidBodyModel class to set the last joint state
    friend class Foam::RBD::rigidBodyModel;


    // Constructors

        //- Construct for given PtrList<joint>
        composite(const PtrList<joint>& joints);

        //- Construct for given model from dictionary
        composite(const rigidBodyModel& model, const dictionary& dict);

        //- Clone this joint
        virtual autoPtr<joint> clone() const;


    //- Destructor
    virtual ~composite();


    // Member Functions

        //- Update the model state for this joint
        virtual void jcalc
        (
            joint::XSvc& J,
            const rigidBodyModelState& state
        ) const;

        //- Write
        virtual void write(Ostream&) const;
};


// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

} // End namespace joints
} // End namespace RBD
} // End namespace Foam

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //

#endif

// ************************************************************************* //