Joint in which the position is a function of the parent joint's velocity. More...
Public Member Functions | |
| TypeName ("functionDot") | |
| Runtime type information. More... | |
| functionDot (const rigidBodyModel &model, const dictionary &dict) | |
| Construct for given model from dictionary. More... | |
| virtual autoPtr< joint > | clone () const |
| Clone this joint. More... | |
| virtual | ~functionDot () |
| Destructor. 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... | |
| 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... | |
| 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< joint > | New (joint *jointPtr) |
| Simple selector to return an autoPtr<joint> of the given joint*. More... | |
| static autoPtr< joint > | New (const rigidBodyModel &model, const dictionary &dict) |
| Select from dictionary. More... | |
| Protected Attributes inherited from joint | |
| const rigidBodyModel & | model_ |
| Reference to the model. More... | |
| List< spatialVector > | S_ |
| 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... | |
Joint in which the position is a function of the parent joint's velocity.
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
Chapter 4.
Definition at line 61 of file functionDot.H.
| functionDot | ( | const rigidBodyModel & | model, |
| const dictionary & | dict | ||
| ) |
Construct for given model from dictionary.
Definition at line 54 of file functionDot.C.
|
virtual |
Destructor.
Definition at line 73 of file functionDot.C.
References functionDot::jcalc().
| TypeName | ( | "functionDot" | ) |
Runtime type information.
|
virtual |
|
virtual |
Update the model state for this joint.
Implements joint.
Definition at line 80 of file functionDot.C.
References Foam::constant::universal::c, joint::XSvc::c, f(), Tensor< scalar >::I, lambda(), Foam::mag(), rigidBodyModelState::qDdot(), rigidBodyModelState::qDot(), R, s(), joint::XSvc::S, joint::S(), joint::XSvc::S1, Foam::sqr(), joint::XSvc::v, x, joint::XSvc::X, and Foam::Zero.
Referenced by functionDot::~functionDot().
1.8.13