Abstract base-class for all rigid-body joints. More...

Inheritance diagram for joint:

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Collaboration diagram for joint:

Classes
class	iNew

class	XSvc
	Joint state returned by jcalc. More...

Public Member Functions
	TypeName ("joint")
	Runtime type information. More...

	declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const dictionary &dict),(dict))

	joint (const label nDoF)
	Construct joint setting the size of the motion sub-space. More...

virtual autoPtr< joint >	clone () const =0
	Clone this joint (needed by PtrList) More...

virtual	~joint ()
	Destructor. More...

label	nDoF () const
	Return the number of degrees of freedom in this joint. More...

virtual bool	unitQuaternion () const
	Return true if this joint describes rotation using a quaternion. More...

label	index () const
	Return the index of this joint in the model. More...

label	qIndex () const
	Return start index for the state variables for this joint. More...

const List< spatialVector > &	S () const
	Return the joint motion sub-space. More...

virtual void	jcalc (XSvc &J, const scalarField &q, const scalarField &qDot) const =0
	Update the rigidBodyModel state for the joint given. More...

virtual void	write (Ostream &) const
	Write. More...

quaternion	unitQuaternion (const scalarField &q) const
	Return the unit quaternion for this joint. More...

void	unitQuaternion (const quaternion &quat, scalarField &q) const
	Set the unit quaternion for this joint. More...

Static Public Member Functions
static autoPtr< joint >	New (joint *jointPtr)
	Simple selector to return an autoPtr<joint> of the given joint*. More...

static autoPtr< joint >	New (const dictionary &dict)
	Select from dictionary. More...

Protected Attributes
List< spatialVector >	S_
	Joint motion sub-space. More...

label	index_
	Index of this joint in the rigidBodyModel. More...

label	qIndex_
	Index of this joints data in the rigidBodyModel state. More...

Friends
class	rigidBodyModel
	Allow the rigidBodyModel class to set the joint indices. More...

Ostream &	operator<< (Ostream &, const joint &)

Detailed Description

Abstract base-class for all rigid-body joints.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
    Chapter 4.

Source files

Definition at line 81 of file joint.H.

Constructor & Destructor Documentation

◆ joint()

joint ( const label nDoF )

inline

Construct joint setting the size of the motion sub-space.

to the given degrees of freedom of the joint

Definition at line 23 of file jointI.H.

◆ ~joint()

~joint ( )

virtual

Destructor.

Definition at line 71 of file joint.C.

Member Function Documentation

◆ TypeName()

TypeName ( "joint" )

Runtime type information.

◆ declareRunTimeSelectionTable()

declareRunTimeSelectionTable	(	autoPtr	,
		joint	,
		dictionary	,
		(const dictionary &dict)	,
		(dict)
	)

◆ clone()

virtual autoPtr<joint> clone ( ) const

pure virtual

Clone this joint (needed by PtrList)

Implemented in composite, floating, Rs, Rxyz, Ryxz, Rzyx, null, Pa, Px, Pxyz, Py, Pz, Ra, Rx, Ry, and Rz.

◆ New() [1/2]

Foam::autoPtr< Foam::RBD::joint > New ( joint * jointPtr )

static

Simple selector to return an autoPtr<joint> of the given joint*.

Definition at line 39 of file joint.C.

Referenced by rigidBodyModel::rigidBodyModel().

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◆ New() [2/2]

Foam::autoPtr< Foam::RBD::joint > New ( const dictionary & dict )

static

Select from dictionary.

Definition at line 46 of file joint.C.

References dict, Foam::exit(), Foam::FatalIOError, and FatalIOErrorInLookup.

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◆ nDoF()

Foam::label nDoF ( ) const

inline

Return the number of degrees of freedom in this joint.

Definition at line 33 of file jointI.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), and rigidBodyModel::join_().

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◆ unitQuaternion() [1/3]

bool unitQuaternion ( ) const

inlinevirtual

Return true if this joint describes rotation using a quaternion.

Reimplemented in Rs.

Definition at line 38 of file jointI.H.

Referenced by Rs::jcalc(), and rigidBodyModel::join_().

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◆ index()

Foam::label index ( ) const

inline

Return the index of this joint in the model.

Definition at line 43 of file jointI.H.

◆ qIndex()

Foam::label qIndex ( ) const

inline

Return start index for the state variables for this joint.

in the rigidBodyModel state fields

Definition at line 48 of file jointI.H.

◆ S()

const Foam::List< Foam::spatialVector > & S ( ) const

inline

Return the joint motion sub-space.

Definition at line 53 of file jointI.H.

◆ jcalc()

virtual void jcalc	(	XSvc &	J,
		const scalarField &	q,
		const scalarField &	qDot
	)		const

pure virtual

Update the rigidBodyModel state for the joint given.

the joint state q, w and velocity qDot

Implemented in composite, Rs, Rxyz, Ryxz, Rzyx, null, Pa, Px, Pxyz, Py, Pz, Ra, Rx, Ry, and Rz.

Referenced by rigidBodyModel::forwardDynamics(), and rigidBodyModel::forwardDynamicsCorrection().

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◆ write()

void write ( Ostream & os ) const

virtual

Write.

Reimplemented in composite, Pa, Ra, and floating.

Definition at line 77 of file joint.C.

References Foam::type(), and Ostream::writeEntry().

Referenced by Foam::RBD::operator<<(), floating::write(), Pa::write(), Ra::write(), and composite::write().

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◆ unitQuaternion() [2/3]

Foam::quaternion unitQuaternion ( const scalarField & q ) const

inline

Return the unit quaternion for this joint.

if it uses a quaternion representation for rotation

Definition at line 62 of file jointI.H.

References Foam::abort(), Field< Type >::block(), Foam::FatalError, FatalErrorInFunction, and quaternion::unit().

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◆ unitQuaternion() [3/3]

void unitQuaternion	(	const quaternion &	quat,
		scalarField &	q
	)		const

inline

Set the unit quaternion for this joint.

if it uses a quaternion representation for rotation

Definition at line 78 of file jointI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, and quaternion::v().

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Friends And Related Function Documentation

◆ rigidBodyModel

friend class rigidBodyModel

friend

Allow the rigidBodyModel class to set the joint indices.

Definition at line 130 of file joint.H.

◆ operator<<

Ostream& operator<<	(	Ostream &	,
		const joint &
	)

friend

Member Data Documentation

◆ S_

List<spatialVector> S_

protected

Joint motion sub-space.

Definition at line 91 of file joint.H.

Referenced by Pa::Pa(), Px::Px(), Pxyz::Pxyz(), Py::Py(), Pz::Pz(), Ra::Ra(), Rs::Rs(), Rx::Rx(), Rxyz::Rxyz(), Ry::Ry(), Ryxz::Ryxz(), Rz::Rz(), and Rzyx::Rzyx().

◆ index_

label index_

protected

Index of this joint in the rigidBodyModel.

Definition at line 96 of file joint.H.

◆ qIndex_

label qIndex_

protected

Index of this joints data in the rigidBodyModel state.

Definition at line 101 of file joint.H.

The documentation for this class was generated from the following files:

src/rigidBodyDynamics/joints/joint/joint.H
src/rigidBodyDynamics/joints/joint/joint.C
src/rigidBodyDynamics/joints/joint/jointI.H

Classes

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ joint()

◆ ~joint()

Member Function Documentation

◆ TypeName()

◆ declareRunTimeSelectionTable()

◆ clone()

◆ New() [1/2]

◆ New() [2/2]

◆ nDoF()

◆ unitQuaternion() [1/3]

◆ index()

◆ qIndex()

◆ S()

◆ jcalc()

◆ write()

◆ unitQuaternion() [2/3]

◆ unitQuaternion() [3/3]

Friends And Related Function Documentation

◆ rigidBodyModel

◆ operator<<

Member Data Documentation

◆ S_

◆ index_

◆ qIndex_