49 #ifndef RBD_joints_Rs_H 50 #define RBD_joints_Rs_H 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...
Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimb...
Joint state returned by jcalc.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Rs()
Construct for given model.
Pointer management similar to std::unique_ptr, with some additional methods and type checking...
virtual autoPtr< joint > clone() const
Clone this joint.
TypeName("Rs")
Runtime type information.