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Ra Class Reference

Revolute joint for rotation about the specified arbitrary axis. More...

Inheritance diagram for Ra:
Collaboration diagram for Ra:

Public Member Functions

 TypeName ("Ra")
 Runtime type information. More...
 
 Ra (const rigidBodyModel &model, const vector &axis)
 Construct for given model and axis. More...
 
 Ra (const rigidBodyModel &model, const dictionary &dict)
 Construct for given model from dictionary. More...
 
virtual autoPtr< jointclone () const
 Clone this joint. More...
 
virtual ~Ra ()
 Destructor. More...
 
virtual void jcalc (joint::XSvc &J, const rigidBodyModelState &state) const
 Update the model state for this joint. More...
 
virtual void write (Ostream &) const
 Write. More...
 
- Public Member Functions inherited from joint
 TypeName ("joint")
 Runtime type information. More...
 
 declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const rigidBodyModel &model, const dictionary &dict),(model, dict))
 
 joint (const rigidBodyModel &model, const label nDoF)
 Construct joint setting the size of the motion sub-space. More...
 
 joint (const joint &)=default
 Copy constructor. More...
 
virtual ~joint ()
 Destructor. More...
 
label nDoF () const
 Return the number of degrees of freedom in this joint. More...
 
virtual bool unitQuaternion () const
 Return true if this joint describes rotation using a quaternion. More...
 
label index () const
 Return the index of this joint in the model. More...
 
label qIndex () const
 Return start index for the state variables for this joint. More...
 
const List< spatialVector > & S () const
 Return the joint motion sub-space. More...
 
void operator= (const joint &j)
 Assignment. More...
 
quaternion unitQuaternion (const scalarField &q) const
 Return the unit quaternion for this joint. More...
 
void unitQuaternion (const quaternion &quat, scalarField &q) const
 Set the unit quaternion for this joint. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from joint
static autoPtr< jointNew (joint *jointPtr)
 Simple selector to return an autoPtr<joint> of the given joint*. More...
 
static autoPtr< jointNew (const rigidBodyModel &model, const dictionary &dict)
 Select from dictionary. More...
 
- Protected Attributes inherited from joint
const rigidBodyModelmodel_
 Reference to the model. More...
 
List< spatialVectorS_
 Joint motion sub-space. More...
 
label index_
 Index of this joint in the rigidBodyModel. More...
 
label qIndex_
 Index of this joints data in the rigidBodyModel state. More...
 

Detailed Description

Revolute joint for rotation about the specified arbitrary axis.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
    Chapter 4.
Source files

Definition at line 60 of file Ra.H.

Constructor & Destructor Documentation

◆ Ra() [1/2]

Ra ( const rigidBodyModel model,
const vector axis 
)

Construct for given model and axis.

Definition at line 53 of file Ra.C.

References Foam::mag(), joint::S_, and Foam::Zero.

Referenced by Ra::clone().

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◆ Ra() [2/2]

Ra ( const rigidBodyModel model,
const dictionary dict 
)

Construct for given model from dictionary.

Definition at line 61 of file Ra.C.

References dictionary::lookup(), Foam::mag(), joint::S_, and Foam::Zero.

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◆ ~Ra()

~Ra ( )
virtual

Destructor.

Definition at line 78 of file Ra.C.

References Ra::jcalc().

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Member Function Documentation

◆ TypeName()

TypeName ( "Ra"  )

Runtime type information.

◆ clone()

Foam::autoPtr< Foam::RBD::joint > clone ( ) const
virtual

Clone this joint.

Implements joint.

Definition at line 70 of file Ra.C.

References Ra::Ra().

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◆ jcalc()

void jcalc ( joint::XSvc J,
const rigidBodyModelState state 
) const
virtual

Update the model state for this joint.

Implements joint.

Definition at line 85 of file Ra.C.

References joint::XSvc::c, rigidBodyModelState::q(), rigidBodyModelState::qDot(), joint::qIndex_, joint::XSvc::S1, joint::S_, joint::XSvc::v, joint::XSvc::X, Foam::Xr(), and Foam::Zero.

Referenced by Ra::~Ra().

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◆ write()

void write ( Ostream os) const
virtual

Write.

Reimplemented from joint.

Definition at line 97 of file Ra.C.

References joint::S_, joint::write(), and Foam::writeEntry().

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The documentation for this class was generated from the following files: