joint Class Reference

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

Inheritance diagram for joint:

Collaboration diagram for joint:

Classes
class	iNew
class	XSvc

Public Member Functions
	TypeName ("joint")
	declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const dictionary &dict),(dict))
	joint (const label nDoF)
virtual autoPtr< joint >	clone () const =0
virtual	~joint ()
label	nDoF () const
virtual bool	unitQuaternion () const
label	index () const
label	qIndex () const
const List< spatialVector > &	S () const
virtual void	jcalc (XSvc &J, const scalarField &q, const scalarField &qDot) const =0
virtual void	write (Ostream &) const
quaternion	unitQuaternion (const scalarField &q) const
void	unitQuaternion (const quaternion &quat, scalarField &q) const

Static Public Member Functions
static autoPtr< joint >	New (joint *jointPtr)
static autoPtr< joint >	New (const dictionary &dict)

Protected Attributes
List< spatialVector >	S_
label	index_
label	qIndex_

Friends
class	rigidBodyModel
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

• joint.H
• jointI.H
• joint.C

Definition at line 81 of file joint.H.

Constructor & Destructor Documentation

joint()

joint ( const label  nDoF )

inline

Definition at line 23 of file jointI.H.

~joint()

~joint ( )

virtual

Definition at line 71 of file joint.C.

Member Function Documentation

TypeName()

TypeName

(

"joint"

)

declareRunTimeSelectionTable()

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

clone()

virtual autoPtr<joint> clone ( ) const

pure virtual

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

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

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

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

Reimplemented in Rs.

Definition at line 38 of file jointI.H.

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

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index()

label index ( ) const

inline

qIndex()

label qIndex ( ) const

inline

S()

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

inline

Definition at line 53 of file jointI.H.

jcalc()

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

pure virtual

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

Reimplemented in composite, Pa, Ra, and floating.

Definition at line 77 of file joint.C.

References os(), and Foam::type().

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

Definition at line 62 of file jointI.H.

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

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unitQuaternion() [3/3]

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

inline

Definition at line 78 of file jointI.H.

References Foam::abort(), Foam::FatalError, FatalErrorInFunction, quaternion::v(), Vector< Cmpt >::x(), Vector< Cmpt >::y(), and Vector< Cmpt >::z().

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Friends And Related Function Documentation

rigidBodyModel

friend class rigidBodyModel

friend

Definition at line 118 of file joint.H.

operator<<

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

friend

Member Data Documentation

S_

List<spatialVector> S_

protected

Definition at line 89 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

Definition at line 92 of file joint.H.

qIndex_

label qIndex_

protected

Definition at line 95 of file joint.H.

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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