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rigidBodyModelState Class Reference

Holds the motion state of rigid-body model. More...

#include <rigidBodyModelState.H>

Public Member Functions

 rigidBodyModelState (const rigidBodyModel &model)
 Construct for the given rigidBodyModel.
 rigidBodyModelState (const rigidBodyModel &model, const dictionary &dict)
 Construct from dictionary for the given rigidBodyModel.
const scalarField & q () const
 Return access to the joint position and orientation.
const scalarField & qDot () const
 Return access to the joint velocity.
const scalarField & qDdot () const
 Return access to the joint acceleration.
scalar t () const
 Return access to the time.
scalar deltaT () const
 Return access to the time-step.
scalarField & q ()
 Return access to the joint position and orientation.
scalarField & qDot ()
 Return access to the joint velocity.
scalarField & qDdot ()
 Return access to the joint acceleration.
scalar & t ()
 Return access to the time.
scalar & deltaT ()
 Return access to the time-step.
void write (dictionary &dict) const
 Write to dictionary.
void write (Ostream &) const
 Write to stream.

Friends

Istream & operator>> (Istream &, rigidBodyModelState &)
Ostream & operator<< (Ostream &, const rigidBodyModelState &)

Detailed Description

Holds the motion state of rigid-body model.

Source files

Definition at line 58 of file rigidBodyModelState.H.

Constructor & Destructor Documentation

◆ rigidBodyModelState() [1/2]

rigidBodyModelState ( const rigidBodyModel & model)

Construct for the given rigidBodyModel.

Definition at line 26 of file rigidBodyModelState.C.

References Foam::Zero.

Referenced by operator<<, and operator>>.

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◆ rigidBodyModelState() [2/2]

rigidBodyModelState ( const rigidBodyModel & model,
const dictionary & dict )

Construct from dictionary for the given rigidBodyModel.

Definition at line 39 of file rigidBodyModelState.C.

References dict, rigidBodyModel::nDoF(), and Foam::Zero.

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Member Function Documentation

◆ q() [1/2]

const Foam::scalarField & q ( ) const
inline

Return access to the joint position and orientation.

Definition at line 23 of file rigidBodyModelStateI.H.

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

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◆ qDot() [1/2]

const Foam::scalarField & qDot ( ) const
inline

Return access to the joint velocity.

Definition at line 29 of file rigidBodyModelStateI.H.

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

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◆ qDdot() [1/2]

const Foam::scalarField & qDdot ( ) const
inline

Return access to the joint acceleration.

Definition at line 35 of file rigidBodyModelStateI.H.

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

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◆ t() [1/2]

Foam::scalar t ( ) const
inline

Return access to the time.

Definition at line 41 of file rigidBodyModelStateI.H.

Referenced by externalForce::restrain().

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◆ deltaT() [1/2]

Foam::scalar deltaT ( ) const
inline

Return access to the time-step.

Definition at line 47 of file rigidBodyModelStateI.H.

◆ q() [2/2]

Foam::scalarField & q ( )
inline

Return access to the joint position and orientation.

Definition at line 53 of file rigidBodyModelStateI.H.

◆ qDot() [2/2]

Foam::scalarField & qDot ( )
inline

Return access to the joint velocity.

Definition at line 59 of file rigidBodyModelStateI.H.

◆ qDdot() [2/2]

Foam::scalarField & qDdot ( )
inline

Return access to the joint acceleration.

Definition at line 65 of file rigidBodyModelStateI.H.

◆ t() [2/2]

Foam::scalar & t ( )
inline

Return access to the time.

Definition at line 77 of file rigidBodyModelStateI.H.

◆ deltaT() [2/2]

Foam::scalar & deltaT ( )
inline

Return access to the time-step.

Definition at line 71 of file rigidBodyModelStateI.H.

◆ write() [1/2]

void write ( dictionary & dict) const

Write to dictionary.

Definition at line 26 of file rigidBodyModelStateIO.C.

References dict.

◆ write() [2/2]

void write ( Ostream & os) const

Write to stream.

Definition at line 36 of file rigidBodyModelStateIO.C.

References os().

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◆ operator>>

Istream & operator>> ( Istream & ,
rigidBodyModelState &  )
friend

References rigidBodyModelState().

◆ operator<<

Ostream & operator<< ( Ostream & ,
const rigidBodyModelState &  )
friend

References rigidBodyModelState().

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