91 J.
X =
Xt(S_[0].l()*q[qIndex_]);
93 J.
v = S_[0]*qDot[qIndex_];
101 os.writeEntry(
"axis", S_[0].l());
Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
Joint state returned by jcalc.
spatialVector c
The constrained joint acceleration correction.
spatialVector v
The constrained joint velocity.
spatialVector S1
The joint motion sub-space (1-DoF)
spatialTransform X
The joint transformation.
Abstract base-class for all rigid-body joints.
List< spatialVector > S_
Joint motion sub-space.
Prismatic joint for translation along the specified arbitrary axis.
virtual autoPtr< joint > clone() const
Clone this joint.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
virtual bool write()
Write the output fields.
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
OBJstream os(runTime.globalPath()/outputName)
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
dimensioned< typename typeOfMag< Type >::type > mag(const dimensioned< Type > &dt)
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
static constexpr const zero Zero
Global zero (0)