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rigidBodyModelState.C
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25 
26 #include "rigidBodyModelState.H"
27 
28 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
29 
31 (
32  const rigidBodyModel& model
33 )
34 :
35  q_(model.nDoF(), Zero),
36  qDot_(model.nDoF(), Zero),
37  qDdot_(model.nDoF(), Zero),
38  t_(-1),
39  deltaT_(0)
40 {}
41 
42 
44 (
45  const rigidBodyModel& model,
46  const dictionary& dict
47 )
48 :
49  q_(dict.lookupOrDefault("q", scalarField(model.nDoF(), Zero))),
50  qDot_(dict.lookupOrDefault("qDot", scalarField(model.nDoF(), Zero))),
51  qDdot_(dict.lookupOrDefault("qDdot", scalarField(model.nDoF(), Zero))),
52  t_(dict.lookupOrDefault<scalar>("t", -1)),
53  deltaT_(dict.lookupOrDefault<scalar>("deltaT", 0))
54 {}
55 
56 
57 // ************************************************************************* //
rigidBodyModelState(const rigidBodyModel &model)
Construct for the given rigidBodyModel.
A list of keyword definitions, which are a keyword followed by any number of values (e...
Definition: dictionary.H:158
static const zero Zero
Definition: zero.H:97
label nDoF() const
Return the number of degrees of freedom of the model.
T lookupOrDefault(const word &, const T &, bool recursive=false, bool patternMatch=true) const
Find and return a T,.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...