Ra Class Reference

Revolute joint for rotation about the specified arbitrary axis. More...

#include <Ra.H>

Inheritance diagram for Ra:

Collaboration diagram for Ra:

Public Member Functions
	TypeName ("Ra")
	Runtime type information.
	Ra (const vector &axis)
	Construct for given model and axis.
	Ra (const dictionary &dict)
	Construct for given model from dictionary.
virtual autoPtr< joint >	clone () const
	Clone this joint.
virtual	~Ra ()
	Destructor.
virtual void	jcalc (joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
	Update the model state for this joint.
virtual void	write (Ostream &) const
	Write.
Public Member Functions inherited from joint
	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	~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.
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.

Additional Inherited Members
Static Public Member Functions inherited from joint
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 inherited from joint
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.

Detailed Description

Revolute joint for rotation about the specified arbitrary axis.

Reference:

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

Source files

• Ra.H
• Ra.C

Definition at line 61 of file Ra.H.

Constructor & Destructor Documentation

Ra() [1/2]

Ra

(

const vector &

axis

)

Construct for given model and axis.

Definition at line 49 of file Ra.C.

References joint::joint(), Foam::mag(), joint::S_, and Foam::Zero.

Referenced by Ra().

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Ra() [2/2]

Ra

(

const dictionary &

dict

)

Construct for given model from dictionary.

Definition at line 57 of file Ra.C.

References dict, and Ra().

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~Ra()

~Ra ( )

virtual

Destructor.

Definition at line 71 of file Ra.C.

Member Function Documentation

TypeName()

TypeName

(

"Ra"

)

Runtime type information.

References dict.

clone()

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

virtual

Clone this joint.

Implements joint.

Definition at line 63 of file Ra.C.

References Foam::Ra().

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jcalc()

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

virtual

Update the model state for this joint.

Implements joint.

Definition at line 77 of file Ra.C.

References joint::XSvc::c, joint::qIndex_, joint::XSvc::S1, joint::S_, joint::XSvc::v, joint::XSvc::X, Foam::Xr(), and Foam::Zero.

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write()

void write ( Ostream & os ) const

virtual

Write.

Reimplemented from joint.

Definition at line 91 of file Ra.C.

References os(), joint::S_, and joint::write().

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

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