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

#include <joint.H>

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

Public Member Functions
	TypeName ("joint")
	Runtime type information.
	declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const dictionary &dict),(dict))
	joint (const label nDoF)
	Construct joint setting the size of the motion sub-space.
virtual autoPtr< joint >	clone () const =0
	Clone this joint (needed by PtrList).
virtual	~joint ()
	Destructor.
label	nDoF () const
	Return the number of degrees of freedom in this joint.
virtual bool	unitQuaternion () const
	Return true if this joint describes rotation using a quaternion.
label	index () const
	Return the index of this joint in the model.
label	qIndex () const
	Return start index for the state variables for this joint.
const List< spatialVector > &	S () const
	Return the joint motion sub-space.
virtual void	jcalc (XSvc &J, const scalarField &q, const scalarField &qDot) const =0
	Update the rigidBodyModel state for the joint given.
virtual void	write (Ostream &) const
	Write.
quaternion	unitQuaternion (const scalarField &q) const
	Return the unit quaternion for this joint.
void	unitQuaternion (const quaternion &quat, scalarField &q) const
	Set the unit quaternion for this joint.

Static Public Member Functions
static autoPtr< joint >	New (joint *jointPtr)
	Simple selector to return an autoPtr<joint> of the given joint*.
static autoPtr< joint >	New (const dictionary &dict)
	Select from dictionary.

Protected Attributes
List< spatialVector >	S_
	Joint motion sub-space.
label	index_
	Index of this joint in the rigidBodyModel.
label	qIndex_
	Index of this joints data in the rigidBodyModel state.

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

References index_, nDoF(), qIndex_, and S_.

Referenced by composite::composite(), composite::composite(), declareRunTimeSelectionTable(), New(), null::null(), null::null(), operator<<, Pa::Pa(), Px::Px(), Px::Px(), Pxyz::Pxyz(), Pxyz::Pxyz(), Py::Py(), Py::Py(), Pz::Pz(), Pz::Pz(), Ra::Ra(), Rs::Rs(), Rs::Rs(), Rx::Rx(), Rx::Rx(), Rxyz::Rxyz(), Rxyz::Rxyz(), Ry::Ry(), Ry::Ry(), Ryxz::Ryxz(), Ryxz::Ryxz(), Rz::Rz(), Rz::Rz(), Rzyx::Rzyx(), and Rzyx::Rzyx().

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◆ ~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)	)

References dict, joint(), and nDoF().

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◆ clone()

virtual autoPtr< joint > clone ( ) const

pure virtual

Clone this joint (needed by PtrList).

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

◆ 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.

References joint().

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 45 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.

References S_.

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

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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(), rigidBodyModel::join_(), unitQuaternion(), and unitQuaternion().

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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.

References index_.

◆ 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.

References qIndex_.

◆ S()

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

inline

Return the joint motion sub-space.

Definition at line 53 of file jointI.H.

References S_.

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

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

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◆ write()

void write ( Ostream & os ) const

virtual

Write.

Reimplemented in composite, floating, Pa, and Ra.

Definition at line 77 of file joint.C.

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

Referenced by Foam::RBD::operator<<(), composite::write(), floating::write(), Pa::write(), and Ra::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 61 of file jointI.H.

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

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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 77 of file jointI.H.

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

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◆ rigidBodyModel

friend class rigidBodyModel

friend

Allow the rigidBodyModel class to set the joint indices.

Definition at line 130 of file joint.H.

References rigidBodyModel.

Referenced by rigidBodyModel.

◆ operator<<

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

friend

References joint().

Member Data Documentation

◆ S_

List<spatialVector> S_

protected

Joint motion sub-space.

Definition at line 91 of file joint.H.

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

◆ index_

label index_

protected

Index of this joint in the rigidBodyModel.

Definition at line 96 of file joint.H.

Referenced by index(), and joint().

◆ qIndex_

label qIndex_

protected

Index of this joints data in the rigidBodyModel state.

Definition at line 101 of file joint.H.

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

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 Symbol Documentation

◆ rigidBodyModel

◆ operator<<

Member Data Documentation

◆ S_

◆ index_

◆ qIndex_