#include <rigidBodySolver.H>

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Public Member Functions
	TypeName ("rigidBodySolver")
	Runtime type information.
	declareRunTimeSelectionTable (autoPtr, rigidBodySolver, dictionary,(rigidBodyMotion &body, const dictionary &dict),(body, dict))
	rigidBodySolver (rigidBodyMotion &body)
virtual	~rigidBodySolver ()
	Destructor.
virtual void	solve (const scalarField &tau, const Field< spatialVector > &fx)=0
	Integrate the rigid-body motion for one time-step.

Static Public Member Functions
static autoPtr< rigidBodySolver >	New (rigidBodyMotion &body, const dictionary &dict)

Protected Member Functions
rigidBodyModelState &	state ()
	Return the motion state.
scalarField &	q ()
	Return the current joint position and orientation.
scalarField &	qDot ()
	Return the current joint quaternion.
scalarField &	qDdot ()
	Return the current joint acceleration.
scalar	deltaT () const
	Return the current time-step.
const rigidBodyModelState &	state0 () const
	Return the previous motion state.
const scalarField &	q0 () const
	Return the current joint position and orientation.
const scalarField &	qDot0 () const
	Return the current joint quaternion.
const scalarField &	qDdot0 () const
	Return the current joint acceleration.
scalar	deltaT0 () const
	Return the previous time-step.
void	correctQuaternionJoints ()
	Correct the quaternion joints based on the current change in q.

Protected Attributes
rigidBodyMotion &	model_
	The rigid-body model.

Detailed Description

Source files

Definition at line 49 of file rigidBodySolver.H.

Constructor & Destructor Documentation

◆ rigidBodySolver()

rigidBodySolver ( rigidBodyMotion & body )

Definition at line 38 of file rigidBodySolver.C.

References model_.

Referenced by CrankNicolson::CrankNicolson(), declareRunTimeSelectionTable(), Newmark::Newmark(), and symplectic::symplectic().

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◆ ~rigidBodySolver()

~rigidBodySolver ( )

virtual

Destructor.

Definition at line 46 of file rigidBodySolver.C.

Member Function Documentation

◆ state()

Foam::RBD::rigidBodyModelState & state ( )

inlineprotected

Return the motion state.

Definition at line 23 of file rigidBodySolverI.H.

References model_.

Referenced by q(), qDdot(), qDot(), CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ q()

Foam::scalarField & q ( )

inlineprotected

Return the current joint position and orientation.

Definition at line 29 of file rigidBodySolverI.H.

References state().

Referenced by correctQuaternionJoints(), CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ qDot()

Foam::scalarField & qDot ( )

inlineprotected

Return the current joint quaternion.

Return the current joint velocity

Definition at line 35 of file rigidBodySolverI.H.

References state().

Referenced by CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ qDdot()

Foam::scalarField & qDdot ( )

inlineprotected

Return the current joint acceleration.

Definition at line 41 of file rigidBodySolverI.H.

References state().

Referenced by CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ deltaT()

Foam::scalar deltaT ( ) const

inlineprotected

Return the current time-step.

Definition at line 47 of file rigidBodySolverI.H.

References model_.

Referenced by CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ state0()

const Foam::RBD::rigidBodyModelState & state0 ( ) const

inlineprotected

Return the previous motion state.

Definition at line 54 of file rigidBodySolverI.H.

References model_.

Referenced by q0(), qDdot0(), and qDot0().

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◆ q0()

const Foam::scalarField & q0 ( ) const

inlineprotected

Return the current joint position and orientation.

Definition at line 59 of file rigidBodySolverI.H.

References state0().

Referenced by correctQuaternionJoints(), CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ qDot0()

const Foam::scalarField & qDot0 ( ) const

inlineprotected

Return the current joint quaternion.

Return the current joint velocity

Definition at line 65 of file rigidBodySolverI.H.

References state0().

Referenced by CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ qDdot0()

const Foam::scalarField & qDdot0 ( ) const

inlineprotected

Return the current joint acceleration.

Definition at line 71 of file rigidBodySolverI.H.

References state0().

Referenced by CrankNicolson::solve(), and Newmark::solve().

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◆ deltaT0()

Foam::scalar deltaT0 ( ) const

inlineprotected

Return the previous time-step.

Definition at line 77 of file rigidBodySolverI.H.

References model_.

Referenced by symplectic::solve().

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◆ correctQuaternionJoints()

void correctQuaternionJoints ( )

protected

Correct the quaternion joints based on the current change in q.

Definition at line 52 of file rigidBodySolver.C.

References Foam::cos(), forAll, Foam::mag(), model_, quaternion::normalise(), q(), and q0().

Referenced by CrankNicolson::solve(), Newmark::solve(), and symplectic::solve().

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◆ TypeName()

TypeName ( "rigidBodySolver" )

Runtime type information.

◆ declareRunTimeSelectionTable()

declareRunTimeSelectionTable	(	autoPtr	,
		rigidBodySolver	,
		dictionary	,
		(rigidBodyMotion &body, const dictionary &dict)	,
		(body, dict)	)

References dict, and rigidBodySolver().

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◆ New()

Foam::autoPtr< Foam::RBD::rigidBodySolver > New	(	rigidBodyMotion &	body,
		const dictionary &	dict )

static

Definition at line 26 of file rigidBodySolverNew.C.

References dict, Foam::endl(), Foam::exit(), Foam::FatalIOError, FatalIOErrorInLookup, and Foam::Info.

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◆ solve()

virtual void solve	(	const scalarField &	tau,
		const Field< spatialVector > &	fx )

pure virtual

Integrate the rigid-body motion for one time-step.

Implemented in CrankNicolson, Newmark, and symplectic.

Member Data Documentation

◆ model_

rigidBodyMotion& model_

protected

The rigid-body model.

Definition at line 58 of file rigidBodySolver.H.

Referenced by correctQuaternionJoints(), deltaT(), deltaT0(), rigidBodySolver(), CrankNicolson::solve(), Newmark::solve(), symplectic::solve(), state(), and state0().

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

src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.H
src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolver.C
src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolverI.H
src/rigidBodyDynamics/rigidBodySolvers/rigidBodySolver/rigidBodySolverNew.C

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ rigidBodySolver()

◆ ~rigidBodySolver()

Member Function Documentation

◆ state()

◆ q()

◆ qDot()

◆ qDdot()

◆ deltaT()

◆ state0()

◆ q0()

◆ qDot0()

◆ qDdot0()

◆ deltaT0()

◆ correctQuaternionJoints()

◆ TypeName()

◆ declareRunTimeSelectionTable()

◆ New()

◆ solve()

Member Data Documentation

◆ model_