joint.H

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    Copyright (C) 2016 OpenFOAM Foundation
-------------------------------------------------------------------------------
License
    This file is part of OpenFOAM.
 
    OpenFOAM is free software: you can redistribute it and/or modify it
    under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
 
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    for more details.
 
    You should have received a copy of the GNU General Public License
    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
 
Namespace
    Foam::RBD::joints
 
Group
    grpRigidBodyDynamicsJoints
 
Description
    Namespace for rigid-body joints
 
Class
    Foam::RBD::joint
 
Description
    Abstract base-class for all rigid-body joints.
 
    Reference:
    \verbatim
        Featherstone, R. (2008).
        Rigid body dynamics algorithms.
        Springer.
        Chapter 4.
    \endverbatim
 
SourceFiles
    jointI.H
    joint.C
 
\*---------------------------------------------------------------------------*/
 
#ifndef RBD_joint_H
#define RBD_joint_H
 
#include "List.H"
#include "spatialVector.H"
#include "compactSpatialTensor.H"
#include "CompactSpatialTensorT.H"
#include "spatialTransform.H"
#include "quaternion.H"
#include "scalarField.H"
#include "runTimeSelectionTables.H"
 
namespace Foam
{
namespace RBD
{
 
// Forward declaration of classes
class rigidBodyModel;
 
// Forward declaration of friend functions and operators
class joint;
 
inline Ostream& operator<<(Ostream&, const joint&);
 
 
/*---------------------------------------------------------------------------*\
                         Class joint Declaration
\*---------------------------------------------------------------------------*/
 
class joint
{
 
protected:
 
    // Protected data
 
    //- Joint motion sub-space
    List<spatialVector> S_;
 
    //- Index of this joint in the rigidBodyModel
    label index_;
 
    //- Index of this joints data in the rigidBodyModel state
    label qIndex_;
 
 
private:
 
    // Private member functions to be used by rigidBodyModel
 
        //- Allow the rigidBodyModel to set the index for this joint
        label& index()
        {
            return index_;
        }
 
        //- Allow the rigidBodyModel to set the qIndex for this joint
        label& qIndex()
        {
            return qIndex_;
        }
 
 
public:
 
    //- Allow the rigidBodyModel class to set the joint indices
    friend class rigidBodyModel;
 
    //- Joint state returned by jcalc
    class XSvc
    {
    public:
 
        //- The joint transformation
        spatialTransform X;
 
        //- The joint motion sub-space (3-DoF)
        compactSpatialTensor S;
 
        //- The joint motion sub-space (1-DoF)
        spatialVector S1;
 
        //- The constrained joint velocity
        spatialVector v;
 
        //- The constrained joint acceleration correction
        //  due to changes in the motion sub-space S
        spatialVector c;
 
        //- Null constructor
        XSvc()
        :
            X(),
            v(Zero),
            c(Zero)
        {}
    };
 
 
public:
 
    //- Runtime type information
    TypeName("joint");
 
 
    // Declare run-time constructor selection table
 
        declareRunTimeSelectionTable
        (
            autoPtr,
            joint,
            dictionary,
            (const dictionary& dict),
            (dict)
        );
 
 
    // Constructors
 
        //- Construct joint setting the size of the motion sub-space
        //  to the given degrees of freedom of the joint
        inline joint(const label nDoF);
 
        //- Clone this joint (needed by PtrList)
        virtual autoPtr<joint> clone() const = 0;
 
        class iNew
        {
 
        public:
 
            iNew()
            {}
 
            inline autoPtr<joint> operator()(Istream& is) const;
        };
 
 
    //- Destructor
    virtual ~joint();
 
 
    // Selectors
 
        //- Simple selector to return an autoPtr<joint> of the given joint*
        static autoPtr<joint> New(joint* jointPtr);
 
        //- Select from dictionary
        static autoPtr<joint> New(const dictionary& dict);
 
 
    // Member Functions
 
        //- Return the number of degrees of freedom in this joint
        inline label nDoF() const;
 
        //- Return true if this joint describes rotation using a quaternion
        inline virtual bool unitQuaternion() const;
 
        //- Return the index of this joint in the model
        inline label index() const;
 
        //- Return start index for the state variables for this joint
        //  in the rigidBodyModel state fields
        inline label qIndex() const;
 
        //- Return the joint motion sub-space
        inline const List<spatialVector>& S() const;
 
        //- Update the rigidBodyModel state for the joint given
        //  the joint state q, w and velocity qDot
        virtual void jcalc
        (
            XSvc& J,
            const scalarField& q,
            const scalarField& qDot
        ) const = 0;
 
        //- Write
        virtual void write(Ostream&) const;
 
 
    // Member Operators
 
        //- Return the unit quaternion for this joint
        //  if it uses a quaternion representation for rotation
        inline quaternion unitQuaternion
        (
            const scalarField& q
        ) const;
 
        //- Set the unit quaternion for this joint
        //  if it uses a quaternion representation for rotation
        inline void unitQuaternion
        (
            const quaternion& quat,
            scalarField& q
        ) const;
 
 
    // Ostream Operator
 
        friend Ostream& operator<<(Ostream&, const joint&);
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace RBD
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#include "jointI.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //