98 scalar s0 =
sin(qj.x());
99 scalar c0 =
cos(qj.x());
100 scalar s1 =
sin(qj.y());
101 scalar
c1 =
cos(qj.y());
102 scalar s2 =
sin(qj.z());
103 scalar
c2 =
cos(qj.z());
107 c2*c0 + s2*s1*s0, s2*
c1, -
c2*s0 + s2*s1*c0,
108 -s2*c0 +
c2*s1*s0,
c2*
c1, s2*s0 +
c2*s1*c0,
126 c2*
c1*qDotj.z()*qDotj.x()
127 - s2*s1*qDotj.y()*qDotj.x()
128 - s2*qDotj.z()*qDotj.y(),
130 -s2*
c1*qDotj.z()*qDotj.x()
131 -
c2*s1*qDotj.y()*qDotj.x()
132 -
c2*qDotj.z()*qDotj.y(),
134 -
c1*qDotj.y()*qDotj.x(),
Abstract base-class for all rigid-body joints.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
virtual ~Ryxz()
Destructor.
A list of keyword definitions, which are a keyword followed by a number of values (eg...
spatialVector v
The constrained joint velocity.
const Cmpt & xy() const noexcept
compactSpatialTensor S
The joint motion sub-space (3-DoF)
const dimensionedScalar c2
Second radiation constant: default SI units: [m.K].
defineTypeNameAndDebug(composite, 0)
addToRunTimeSelectionTable(joint, composite, dictionary)
spatialVector c
The constrained joint acceleration correction.
Macros for easy insertion into run-time selection tables.
const Cmpt & zx() const noexcept
Joint state returned by jcalc.
dimensionedScalar cos(const dimensionedScalar &ds)
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
const Cmpt & yx() const noexcept
Ryxz()
Construct for given model.
VSForm block(const label start) const
virtual autoPtr< joint > clone() const
Clone this joint.
dimensionedScalar sin(const dimensionedScalar &ds)
const Cmpt & yy() const noexcept
A Vector of values with scalar precision, where scalar is float/double depending on the compilation f...
spatialTransform X
The joint transformation.
const Cmpt & zz() const noexcept
const Cmpt & xx() const noexcept
const dimensionedScalar c1
First radiation constant: default SI units: [W/m2].
Pointer management similar to std::unique_ptr, with some additional methods and type checking...
static constexpr const zero Zero
Global zero (0)