Rs Class Reference

Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimble-lock. More...

Inheritance diagram for Rs:

Collaboration diagram for Rs:

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

Additional Inherited Members
Static Public Member Functions inherited from joint
static autoPtr< joint >	New (joint *jointPtr)
static autoPtr< joint >	New (const dictionary &dict)
Protected Attributes inherited from joint
List< spatialVector >	S_
label	index_
label	qIndex_

Detailed Description

Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimble-lock.

Reference:

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

Source files

• Rs.H
• Rs.C

Definition at line 62 of file Rs.H.

Constructor & Destructor Documentation

Rs() [1/2]

Rs

(

)

Definition at line 48 of file Rs.C.

References joint::S_.

Rs() [2/2]

Rs

(

const dictionary &

dict

)

Definition at line 58 of file Rs.C.

References joint::S_.

~Rs()

~Rs ( )

virtual

Definition at line 76 of file Rs.C.

Member Function Documentation

TypeName()

TypeName

(

"Rs"

)

clone()

Foam::autoPtr< Foam::RBD::joint > clone ( ) const

virtual

Implements joint.

Definition at line 68 of file Rs.C.

unitQuaternion()

bool unitQuaternion ( ) const

virtual

Reimplemented from joint.

Definition at line 82 of file Rs.C.

jcalc()

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

virtual

Implements joint.

Definition at line 89 of file Rs.C.

References Field::block(), joint::XSvc::c, spatialTransform::E(), spatialTransform::r(), joint::XSvc::S, joint::unitQuaternion(), joint::XSvc::v, joint::XSvc::X, MatrixSpace< Form, Cmpt, Mrows, Ncols >::xx(), MatrixSpace< Form, Cmpt, Mrows, Ncols >::yy(), Foam::Zero, and MatrixSpace< Form, Cmpt, Mrows, Ncols >::zz().

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

• src/rigidBodyDynamics/joints/Rs/Rs.H
• src/rigidBodyDynamics/joints/Rs/Rs.C