Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints. More...

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Public Member Functions
	TypeName ("rigidBodyModel")

	rigidBodyModel (const Time &time)

	rigidBodyModel (const Time &time, const dictionary &dict)

virtual	~rigidBodyModel ()

const Time &	time () const

label	nBodies () const

PtrList< rigidBody >	bodies () const

const DynamicList< label > &	lambda () const

const PtrList< joint > &	joints () const

label	nDoF () const

bool	unitQuaternions () const

const vector &	g () const

vector &	g ()

const word &	name (const label bodyID) const

const rigidBodyInertia &	I (const label i) const

const spatialVector &	v (const label i) const

const spatialVector &	a (const label i) const

virtual label	join (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)

label	join (const label parentID, const spatialTransform &XT, autoPtr< joints::composite > cJoint, autoPtr< rigidBody > bodyPtr)

label	merge (const label parentID, const spatialTransform &X, autoPtr< rigidBody > bodyPtr)

bool	merged (label bodyID) const

label	master (label bodyID) const

label	mergedBodyIndex (const label mergedBodyID) const

label	mergedBodyID (const label mergedBodyIndex) const

const subBody &	mergedBody (label mergedBodyID) const

label	bodyID (const word &name) const

spatialTransform	X0 (const label bodyId) const

vector	masterPoint (const label bodyID, const vector &p) const

spatialVector	v (const label bodyID, const vector &p) const

void	applyRestraints (scalarField &tau, Field< spatialVector > &fx, const rigidBodyModelState &state) const

void	forwardDynamics (rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const

void	forwardDynamicsCorrection (const rigidBodyModelState &state) const

virtual void	write (Ostream &) const

bool	read (const dictionary &dict)

Protected Member Functions
virtual label	join_ (const label parentID, const spatialTransform &XT, autoPtr< joint > jointPtr, autoPtr< rigidBody > bodyPtr)

Protected Attributes
const Time &	time_

PtrList< rigidBody >	bodies_

PtrList< subBody >	mergedBodies_

HashTable< label >	bodyIDs_

DynamicList< label >	lambda_

PtrList< joint >	joints_

DynamicList< spatialTransform >	XT_

label	nDoF_

bool	unitQuaternions_

PtrList< restraint >	restraints_

vector	g_

DynamicList< spatialTransform >	Xlambda_

DynamicList< spatialTransform >	X0_

DynamicList< spatialVector >	v_

DynamicList< spatialVector >	a_

DynamicList< spatialVector >	c_

DynamicList< spatialTensor >	IA_

DynamicList< spatialVector >	pA_

DynamicList< compactSpatialTensor >	S_

DynamicList< spatialVector >	S1_

DynamicList< compactSpatialTensor >	U_

DynamicList< spatialVector >	U1_

DynamicList< tensor >	Dinv_

DynamicList< vector >	u_

Friends
Ostream &	operator<< (Ostream &, const rigidBodyModel &)

Detailed Description

Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.

This class holds various body and joint state fields needed by the kinematics and forward-dynamics algorithms presented in

reference:

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

Source files

Definition at line 79 of file rigidBodyModel.H.

Constructor & Destructor Documentation

◆ rigidBodyModel() [1/2]

rigidBodyModel ( const Time & time )

Definition at line 162 of file rigidBodyModel.C.

◆ rigidBodyModel() [2/2]

rigidBodyModel	(	const Time &	time,
		const dictionary &	dict
	)

Definition at line 172 of file rigidBodyModel.C.

References dict, dictionary::found(), dictionary::get(), Foam::glTF::key(), rigidBody::New(), joint::New(), Foam::read(), and dictionary::subDict().

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◆ ~rigidBodyModel()

~rigidBodyModel ( )

virtual

Definition at line 217 of file rigidBodyModel.C.

Member Function Documentation

◆ join_()

Foam::label join_	(	const label	parentID,
		const spatialTransform &	XT,
		autoPtr< joint >	jointPtr,
		autoPtr< rigidBody >	bodyPtr
	)

protectedvirtual

Definition at line 116 of file rigidBodyModel.C.

References subBody::masterID(), subBody::masterXT(), rigidBody::name(), joint::nDoF(), and joint::unitQuaternion().

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◆ TypeName()

TypeName ( "rigidBodyModel" )

◆ time()

const Foam::Time & time ( ) const

inline

Definition at line 24 of file rigidBodyModelI.H.

References rigidBodyModel::time_.

Referenced by rigidBodyMotion::read().

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◆ nBodies()

Foam::label nBodies ( ) const

inline

Definition at line 30 of file rigidBodyModelI.H.

◆ bodies()

Foam::PtrList< Foam::RBD::rigidBody > bodies ( ) const

inline

Definition at line 37 of file rigidBodyModelI.H.

◆ lambda()

const Foam::DynamicList< Foam::label > & lambda ( ) const

inline

Definition at line 44 of file rigidBodyModelI.H.

◆ joints()

const Foam::PtrList< Foam::RBD::joint > & joints ( ) const

inline

Definition at line 51 of file rigidBodyModelI.H.

◆ nDoF()

Foam::label nDoF ( ) const

inline

Definition at line 57 of file rigidBodyModelI.H.

Referenced by rigidBodyModelState::rigidBodyModelState().

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◆ unitQuaternions()

bool unitQuaternions ( ) const

inline

Definition at line 63 of file rigidBodyModelI.H.

◆ g() [1/2]

Foam::vector & g ( ) const

inline

Definition at line 69 of file rigidBodyModelI.H.

◆ g() [2/2]

vector& g ( )

inline

◆ name()

const Foam::word & name ( const label bodyID ) const

inline

Definition at line 82 of file rigidBodyModelI.H.

◆ I()

const Foam::RBD::rigidBodyInertia & I ( const label i ) const

inline

Definition at line 98 of file rigidBodyModelI.H.

◆ v() [1/2]

const Foam::spatialVector & v ( const label i ) const

inline

Definition at line 105 of file rigidBodyModelI.H.

◆ a()

const Foam::spatialVector & a ( const label i ) const

inline

Definition at line 111 of file rigidBodyModelI.H.

◆ join() [1/2]

Foam::label join	(	const label	parentID,
		const spatialTransform &	XT,
		autoPtr< joint >	jointPtr,
		autoPtr< rigidBody >	bodyPtr
	)

virtual

Definition at line 224 of file rigidBodyModel.C.

References autoPtr::ptr().

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◆ join() [2/2]

Foam::label join	(	const label	parentID,
		const spatialTransform &	XT,
		autoPtr< joints::composite >	cJoint,
		autoPtr< rigidBody >	bodyPtr
	)

Definition at line 258 of file rigidBodyModel.C.

References autoPtr::ptr().

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◆ merge()

Foam::label merge	(	const label	parentID,
		const spatialTransform &	X,
		autoPtr< rigidBody >	bodyPtr
	)

Definition at line 316 of file rigidBodyModel.C.

References subBody::masterID(), subBody::masterXT(), subBody::name(), Foam::name(), and autoPtr::reset().

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◆ merged()

bool merged ( label bodyID ) const

inline

Definition at line 116 of file rigidBodyModelI.H.

◆ master()

Foam::label master ( label bodyID ) const

inline

Definition at line 122 of file rigidBodyModelI.H.

◆ mergedBodyIndex()

Foam::label mergedBodyIndex ( const label mergedBodyID ) const

inline

Definition at line 143 of file rigidBodyModelI.H.

◆ mergedBodyID()

Foam::label mergedBodyID ( const label mergedBodyIndex ) const

inline

Definition at line 136 of file rigidBodyModelI.H.

◆ mergedBody()

const Foam::RBD::subBody & mergedBody ( label mergedBodyID ) const

inline

Definition at line 150 of file rigidBodyModelI.H.

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

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◆ bodyID()

Foam::label bodyID ( const word & name ) const

inline

Definition at line 163 of file rigidBodyModelI.H.

References Foam::name().

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◆ X0()

Foam::spatialTransform X0 ( const label bodyId ) const

Definition at line 374 of file rigidBodyModel.C.

References subBody::masterID(), and subBody::masterXT().

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◆ masterPoint()

Foam::vector masterPoint	(	const label	bodyID,
		const vector &	p
	)		const

inline

Definition at line 170 of file rigidBodyModelI.H.

References Foam::inv(), p, and Foam::Zero.

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◆ v() [2/2]

Foam::spatialVector v	(	const label	bodyID,
		const vector &	p
	)		const

inline

Definition at line 191 of file rigidBodyModelI.H.

References p, and Foam::T().

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◆ applyRestraints()

void applyRestraints	(	scalarField &	tau,
		Field< spatialVector > &	fx,
		const rigidBodyModelState &	state
	)		const

Definition at line 28 of file forwardDynamics.C.

References DebugInfo, and forAll.

◆ forwardDynamics()

void forwardDynamics	(	rigidBodyModelState &	state,
		const scalarField &	tau,
		const Field< spatialVector > &	fx
	)		const

Definition at line 50 of file forwardDynamics.C.

References Field::block(), joint::XSvc::c, DebugInfo, DebugInFunction, Foam::endl(), Foam::I, Foam::inv(), joint::jcalc(), joint::nDoF(), Foam::nl, rigidBodyModelState::q(), rigidBodyModelState::qDdot(), rigidBodyModelState::qDot(), joint::XSvc::S, joint::XSvc::S1, T, joint::XSvc::v, x, Vector< Cmpt >::x(), joint::XSvc::X, Vector< Cmpt >::y(), Vector< Cmpt >::z(), and Foam::Zero.

Referenced by rigidBodyMotion::forwardDynamics().

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◆ forwardDynamicsCorrection()

void forwardDynamicsCorrection ( const rigidBodyModelState & state ) const

Definition at line 203 of file forwardDynamics.C.

References Field::block(), joint::XSvc::c, DebugInfo, DebugInFunction, Foam::endl(), joint::jcalc(), joint::nDoF(), rigidBodyModelState::q(), rigidBodyModelState::qDdot(), rigidBodyModelState::qDot(), joint::XSvc::S, joint::XSvc::S1, joint::XSvc::v, joint::XSvc::X, and Foam::Zero.

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◆ write()

void write ( Ostream & os ) const

virtual

Reimplemented in rigidBodyMotion.

Definition at line 388 of file rigidBodyModel.C.

References Foam::endl(), forAll, Foam::indent(), Foam::name(), Foam::nl, and os().

Referenced by Foam::RBD::operator<<(), and rigidBodyMotion::write().

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◆ read()

bool read ( const dictionary & dict )

Definition at line 449 of file rigidBodyModel.C.

References dict.

Referenced by rigidBodyMotion::read().

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Friends And Related Function Documentation

◆ operator<<

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

friend

Member Data Documentation

◆ time_

const Time& time_

protected

Definition at line 99 of file rigidBodyModel.H.

Referenced by rigidBodyModel::time().

◆ bodies_

PtrList<rigidBody> bodies_

protected

Definition at line 107 of file rigidBodyModel.H.

◆ mergedBodies_

PtrList<subBody> mergedBodies_

protected

Definition at line 113 of file rigidBodyModel.H.

◆ bodyIDs_

HashTable<label> bodyIDs_

protected

Definition at line 116 of file rigidBodyModel.H.

◆ lambda_

DynamicList<label> lambda_

protected

Definition at line 119 of file rigidBodyModel.H.

◆ joints_

PtrList<joint> joints_

protected

Definition at line 122 of file rigidBodyModel.H.

◆ XT_

DynamicList<spatialTransform> XT_

protected

Definition at line 125 of file rigidBodyModel.H.

◆ nDoF_

label nDoF_

protected

Definition at line 129 of file rigidBodyModel.H.

◆ unitQuaternions_

bool unitQuaternions_

protected

Definition at line 132 of file rigidBodyModel.H.

◆ restraints_

PtrList<restraint> restraints_

protected

Definition at line 135 of file rigidBodyModel.H.

◆ g_

vector g_

protected

Definition at line 141 of file rigidBodyModel.H.

◆ Xlambda_

DynamicList<spatialTransform> Xlambda_

mutableprotected

Definition at line 147 of file rigidBodyModel.H.

◆ X0_

DynamicList<spatialTransform> X0_

mutableprotected

Definition at line 150 of file rigidBodyModel.H.

◆ v_

DynamicList<spatialVector> v_

mutableprotected

Definition at line 156 of file rigidBodyModel.H.

◆ a_

DynamicList<spatialVector> a_

mutableprotected

Definition at line 159 of file rigidBodyModel.H.

◆ c_

DynamicList<spatialVector> c_

mutableprotected

Definition at line 162 of file rigidBodyModel.H.

◆ IA_

DynamicList<spatialTensor> IA_

mutableprotected

Definition at line 170 of file rigidBodyModel.H.

◆ pA_

DynamicList<spatialVector> pA_

mutableprotected

Definition at line 173 of file rigidBodyModel.H.

◆ S_

DynamicList<compactSpatialTensor> S_

mutableprotected

Definition at line 179 of file rigidBodyModel.H.

◆ S1_

DynamicList<spatialVector> S1_

mutableprotected

Definition at line 182 of file rigidBodyModel.H.

◆ U_

DynamicList<compactSpatialTensor> U_

mutableprotected

Definition at line 185 of file rigidBodyModel.H.

◆ U1_

DynamicList<spatialVector> U1_

mutableprotected

Definition at line 188 of file rigidBodyModel.H.

◆ Dinv_

DynamicList<tensor> Dinv_

mutableprotected

Definition at line 191 of file rigidBodyModel.H.

◆ u_

DynamicList<vector> u_

mutableprotected

Definition at line 194 of file rigidBodyModel.H.

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

src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.H
src/rigidBodyDynamics/rigidBodyModel/forwardDynamics.C
src/rigidBodyDynamics/rigidBodyModel/rigidBodyModel.C
src/rigidBodyDynamics/rigidBodyModel/rigidBodyModelI.H

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ rigidBodyModel() [1/2]

◆ rigidBodyModel() [2/2]

◆ ~rigidBodyModel()

Member Function Documentation

◆ join_()

◆ TypeName()

◆ time()

◆ nBodies()

◆ bodies()

◆ lambda()

◆ joints()

◆ nDoF()

◆ unitQuaternions()

◆ g() [1/2]

◆ g() [2/2]

◆ name()

◆ I()

◆ v() [1/2]

◆ a()

◆ join() [1/2]

◆ join() [2/2]

◆ merge()

◆ merged()

◆ master()

◆ mergedBodyIndex()

◆ mergedBodyID()

◆ mergedBody()

◆ bodyID()

◆ X0()

◆ masterPoint()

◆ v() [2/2]

◆ applyRestraints()

◆ forwardDynamics()

◆ forwardDynamicsCorrection()

◆ write()

◆ read()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ time_

◆ bodies_

◆ mergedBodies_

◆ bodyIDs_

◆ lambda_

◆ joints_

◆ XT_

◆ nDoF_

◆ unitQuaternions_

◆ restraints_

◆ g_

◆ Xlambda_

◆ X0_

◆ v_

◆ a_

◆ c_

◆ IA_

◆ pA_

◆ S_

◆ S1_

◆ U_

◆ U1_

◆ Dinv_

◆ u_