Rs.H

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    Copyright (C) 2016 OpenFOAM Foundation
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.
 
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Class
    Foam::RBD::joints::Rs
 
Group
    grpRigidBodyDynamicsJoints
 
Description
    Spherical joint for rotation about the x/y/z-axes using a quaternion
    (Euler parameters) to avoid gimble-lock.
 
    Reference:
    \verbatim
        Featherstone, R. (2008).
        Rigid body dynamics algorithms.
        Springer.
        Chapter 4.
    \endverbatim
 
SourceFiles
    Rs.C
 
\*---------------------------------------------------------------------------*/
 
#ifndef RBD_joints_Rs_H
#define RBD_joints_Rs_H
 
#include "joint.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
namespace Foam
{
namespace RBD
{
namespace joints
{
 
/*---------------------------------------------------------------------------*\
                         Class Rs Declaration
\*---------------------------------------------------------------------------*/
 
class Rs
:
    public joint
{
 
public:
 
    //- Runtime type information
    TypeName("Rs");
 
 
    // Constructors
 
        //- Construct for given model
        Rs();
 
        //- Construct for given model from dictionary
        Rs(const dictionary& dict);
 
        //- Clone this joint
        virtual autoPtr<joint> clone() const;
 
 
    //- Destructor
    virtual ~Rs();
 
 
    // Member Functions
 
        //- Return true as this joint describes rotation using a quaternion
        virtual bool unitQuaternion() const;
 
        //- Update the model state for this joint
        virtual void jcalc
        (
            joint::XSvc& J,
            const scalarField& q,
            const scalarField& qDot
        ) const;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace joints
} // End namespace RBD
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //