92 J.
X =
Xt(S_[0].l()*q[qIndex_]);
94 J.
v = S_[0]*qDot[qIndex_];
virtual autoPtr< joint > clone() const
Clone this joint.
Abstract base-class for all rigid-body joints.
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
A list of keyword definitions, which are a keyword followed by a number of values (eg...
spatialVector v
The constrained joint velocity.
spatialVector S1
The joint motion sub-space (1-DoF)
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
Px()
Construct for given model.
spatialVector c
The constrained joint acceleration correction.
Macros for easy insertion into run-time selection tables.
Joint state returned by jcalc.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
spatialTransform X
The joint transformation.
Pointer management similar to std::unique_ptr, with some additional methods and type checking...
static constexpr const zero Zero
Global zero (0)