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nullJoint.H
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23 
24 Class
25  Foam::RBD::joints::null
26 
27 Description
28  Null joint for the root-body.
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  nullJoint.C
40 
41 \*---------------------------------------------------------------------------*/
42 
43 #ifndef nullJoint_H
44 #define nullJoint_H
45 
46 #include "joint.H"
47 
48 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
49 
50 namespace Foam
51 {
52 namespace RBD
53 {
54 
55 class rigidBodyModel;
56 
57 namespace joints
58 {
59 
60 /*---------------------------------------------------------------------------*\
61  Class null Declaration
62 \*---------------------------------------------------------------------------*/
63 
64 class null
65 :
66  public joint
67 {
68 
69 public:
70 
71  //- Runtime type information
72  TypeName("null");
73 
74 
75  // Constructors
76 
77  //- Construct for given model
78  null(const rigidBodyModel& model);
79 
80  //- Construct for given model from dictionary
81  null(const rigidBodyModel& model, const dictionary& dict);
82 
83  //- Clone this joint
84  virtual autoPtr<joint> clone() const;
85 
86 
87  //- Destructor
88  virtual ~null();
89 
90 
91  // Member Functions
92 
93  //- Update the model state for this joint
94  virtual void jcalc
95  (
96  joint::XSvc& J,
97  const rigidBodyModelState& state
98  ) const;
99 };
100 
101 
102 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
103 
104 } // End namespace joints
105 } // End namespace RBD
106 } // End namespace Foam
107 
108 // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
109 
110 #endif
111 
112 // ************************************************************************* //
Abstract base-class for all rigid-body joints.
Definition: joint.H:80
dictionary dict
TypeName("null")
Runtime type information.
Null joint for the root-body.
Definition: nullJoint.H:63
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:158
virtual ~null()
Destructor.
Definition: nullJoint.C:77
null(const rigidBodyModel &model)
Construct for given model.
Definition: nullJoint.C:53
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: nullJoint.C:69
Holds the motion state of rigid-body model.
Joint state returned by jcalc.
Definition: joint.H:123
virtual void jcalc(joint::XSvc &J, const rigidBodyModelState &state) const
Update the model state for this joint.
Definition: nullJoint.C:84
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.