joint::XSvc Class Reference

Joint state returned by jcalc. More...

#include <joint.H>

Collaboration diagram for joint::XSvc:

Public Member Functions
	XSvc ()
	Null constructor.

Public Attributes
spatialTransform	X
	The joint transformation.
compactSpatialTensor	S
	The joint motion sub-space (3-DoF).
spatialVector	S1
	The joint motion sub-space (1-DoF).
spatialVector	v
	The constrained joint velocity.
spatialVector	c
	The constrained joint acceleration correction.

Detailed Description

Joint state returned by jcalc.

Definition at line 135 of file joint.H.

Constructor & Destructor Documentation

XSvc()

XSvc ( )

inline

Null constructor.

Definition at line 169 of file joint.H.

References c, v, X, and Foam::Zero.

Member Data Documentation

X

spatialTransform X

The joint transformation.

Definition at line 142 of file joint.H.

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

S

compactSpatialTensor S

The joint motion sub-space (3-DoF).

Definition at line 147 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Pxyz::jcalc(), Rs::jcalc(), Rxyz::jcalc(), Ryxz::jcalc(), and Rzyx::jcalc().

S1

spatialVector S1

The joint motion sub-space (1-DoF).

Definition at line 152 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Pa::jcalc(), Px::jcalc(), Py::jcalc(), Pz::jcalc(), Ra::jcalc(), Rx::jcalc(), Ry::jcalc(), and Rz::jcalc().

v

spatialVector v

The constrained joint velocity.

Definition at line 157 of file joint.H.

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

c

spatialVector c

The constrained joint acceleration correction.

due to changes in the motion sub-space S

Definition at line 164 of file joint.H.

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

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

• src/rigidBodyDynamics/joints/joint/joint.H