52 #ifndef RBD_rigidBodyModel_H 53 #define RBD_rigidBodyModel_H 74 Ostream&
operator<<(Ostream&,
const rigidBodyModel&);
76 class rigidBodyModelState;
90 void initializeRootBody();
96 void makeComposite(
const label
bodyID);
208 const label parentID,
253 inline label
nDoF()
const;
259 inline const vector&
g()
const;
281 const label parentID,
294 const label parentID,
306 const label parentID,
const subBody & mergedBody(label mergedBodyID) const
Return the merged body for the given body ID.
Ostream & operator<<(Ostream &, const rigidBody &)
const rigidBodyInertia & I(const label i) const
Return the inertia of body i.
DynamicList< vector > u_
Sub-expression tau - S^T.pA in the forward-dynamics algorithm.
DynamicList< spatialTransform > X0_
Transform for external forces to the bodies reference frame.
friend Ostream & operator<<(Ostream &, const rigidBodyModel &)
A list of keyword definitions, which are a keyword followed by a number of values (eg...
DynamicList< spatialVector > pA_
Articulated body bias force.
void forwardDynamicsCorrection(const rigidBodyModelState &state) const
Correct the velocity and acceleration of the bodies in the model.
const spatialVector & v(const label i) const
Return the spatial velocity of the bodies.
label merge(const label parentID, const spatialTransform &X, autoPtr< rigidBody > bodyPtr)
Merge the given body with transform X into the parent with ID.
const spatialVector & a(const label i) const
Return the spatial acceleration of the bodies.
DynamicList< spatialTensor > IA_
Velocity-product acceleration.
label nBodies() const
Return the number of bodies in the model (bodies().size())
label mergedBodyID(const label mergedBodyIndex) const
Return the merged body ID for the given merged body index.
Class to control time during OpenFOAM simulations that is also the top-level objectRegistry.
label master(label bodyID) const
Return the ID of the master body for a sub-body otherwise.
DynamicList< spatialVector > S1_
Motion subspace for joints with 1 degrees of freedom.
Holds the motion state of rigid-body model.
PtrList< restraint > restraints_
Motion restraints.
DynamicList< spatialVector > v_
The spatial velocity of the bodies.
DynamicList< tensor > Dinv_
Sub-expression (S^T.U)^-1 in the forward-dynamics algorithm.
PtrList< joint > joints_
Each body it attached with a joint which are held on this list.
PtrList< rigidBody > bodies_
List of the bodies.
A class for handling words, derived from Foam::string.
label mergedBodyIndex(const label mergedBodyID) const
Return the index of the merged body in the mergedBody list.
label nDoF_
The number of degrees of freedom of the model.
DynamicList< compactSpatialTensor > S_
Motion subspace for joints with 3 degrees of freedom.
const word & name(const label bodyID) const
Return the name of body with the given ID.
bool read(const dictionary &dict)
Read coefficients dictionary and update system parameters,.
const PtrList< joint > & joints() const
Return the list of joints in the model.
rigidBodyModel(const Time &time)
Null-constructor which adds the single root-body at the origin.
DynamicList< spatialTransform > XT_
Transform from the parent body frame to the joint frame.
TypeName("rigidBodyModel")
Runtime type information.
bool unitQuaternions() const
Return true if any of the joints using quaternions.
DynamicList< spatialVector > c_
The velocity dependent spatial acceleration of the joints.
virtual label join(const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
Join the given body to the parent with ID parentID via the given.
void applyRestraints(scalarField &tau, Field< spatialVector > &fx, const rigidBodyModelState &state) const
Apply the restraints and accumulate the internal joint forces.
virtual void write(Ostream &) const
Write.
An Ostream is an abstract base class for all output systems (streams, files, token lists...
A Vector of values with scalar precision, where scalar is float/double depending on the compilation f...
DynamicList< spatialTransform > Xlambda_
Transform from the parent body to the current body.
DynamicList< label > lambda_
List of indices of the parent of each body.
DynamicList< compactSpatialTensor > U_
Sub-expression IA.S in the forward-dynamics algorithm.
label nDoF() const
Return the number of degrees of freedom of the model.
const vector & g() const
Return the acceleration due to gravity.
PtrList< rigidBody > bodies() const
Return the list of the bodies in the model.
bool unitQuaternions_
True if any of the joints using quaternions.
const Time & time() const
Return the time.
PtrList< subBody > mergedBodies_
Bodies may be merged into existing bodies, the inertia of which is.
DynamicList< spatialVector > U1_
Sub-expression IA.S1 in the forward-dynamics algorithm.
HashTable< label > bodyIDs_
Lookup-table of the IDs of the bodies.
A list of pointers to objects of type <T>, with allocation/deallocation management of the pointers...
virtual ~rigidBodyModel()
Destructor.
const DynamicList< label > & lambda() const
List of indices of the parent of each body.
Pointer management similar to std::unique_ptr, with some additional methods and type checking...
label bodyID(const word &name) const
Return the ID of the body with the given name.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints...
spatialTransform X0(const label bodyId) const
Return the current transform to the global frame for the given body.
const Time & time_
Reference to time database.
vector masterPoint(const label bodyID, const vector &p) const
virtual label join_(const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)
Join the given body to the parent with ID parentID via the given.
void forwardDynamics(rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
Calculate the joint acceleration qDdot from the joint state q,.
bool merged(label bodyID) const
Return true if the body with given ID has been merged with a parent.
vector g_
Acceleration due to gravity.
DynamicList< spatialVector > a_
The spatial acceleration of the bodies.