Abstract base-class for all rigid-body joints.
virtual bool unitQuaternion() const
Return true as this joint describes rotation using a quaternion.
A list of keyword definitions, which are a keyword followed by a number of values (eg...
spatialVector v
The constrained joint velocity.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
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.
VSForm block(const label start) const
const Cmpt & yy() const noexcept
A Vector of values with scalar precision, where scalar is float/double depending on the compilation f...
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.
const Cmpt & zz() const noexcept
Rs()
Construct for given model.
const Cmpt & xx() const noexcept
Pointer management similar to std::unique_ptr, with some additional methods and type checking...
virtual autoPtr< joint > clone() const
Clone this joint.
virtual bool unitQuaternion() const
Return true if this joint describes rotation using a quaternion.
static constexpr const zero Zero
Global zero (0)