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Rs Class Reference

Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimble-lock. More...

Inheritance diagram for Rs:
Collaboration diagram for Rs:

Public Member Functions

 TypeName ("Rs")
 Runtime type information. More...
 
 Rs (const rigidBodyModel &model)
 Construct for given model. More...
 
 Rs (const rigidBodyModel &model, const dictionary &dict)
 Construct for given model from dictionary. More...
 
virtual autoPtr< jointclone () const
 Clone this joint. More...
 
virtual ~Rs ()
 Destructor. More...
 
virtual bool unitQuaternion () const
 Return true as this joint describes rotation using a quaternion. More...
 
virtual void jcalc (joint::XSvc &J, const rigidBodyModelState &state) const
 Update the model state for this joint. 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...
 
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...
 
virtual void write (Ostream &) const
 Write. 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

Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimble-lock.

Reference:

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

Definition at line 61 of file Rs.H.

Constructor & Destructor Documentation

◆ Rs() [1/2]

Rs ( const rigidBodyModel model)

Construct for given model.

Definition at line 53 of file Rs.C.

References joint::S_.

Referenced by Rs::clone().

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◆ Rs() [2/2]

Rs ( const rigidBodyModel model,
const dictionary dict 
)

Construct for given model from dictionary.

Definition at line 63 of file Rs.C.

References joint::S_.

◆ ~Rs()

~Rs ( )
virtual

Destructor.

Definition at line 81 of file Rs.C.

Member Function Documentation

◆ TypeName()

TypeName ( "Rs"  )

Runtime type information.

◆ clone()

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

Clone this joint.

Implements joint.

Definition at line 73 of file Rs.C.

References Rs::Rs().

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◆ unitQuaternion()

bool unitQuaternion ( ) const
virtual

Return true as this joint describes rotation using a quaternion.

Reimplemented from joint.

Definition at line 87 of file Rs.C.

References Rs::jcalc().

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◆ jcalc()

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

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