Pa.C
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1/*---------------------------------------------------------------------------*\
2 ========= |
3 \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
4 \\ / O peration |
5 \\ / A nd | www.openfoam.com
6 \\/ M anipulation |
7-------------------------------------------------------------------------------
8 Copyright (C) 2016 OpenFOAM Foundation
9 Copyright (C) 2020 OpenCFD Ltd.
10-------------------------------------------------------------------------------
11License
12 This file is part of OpenFOAM.
13
14 OpenFOAM is free software: you can redistribute it and/or modify it
15 under the terms of the GNU General Public License as published by
16 the Free Software Foundation, either version 3 of the License, or
17 (at your option) any later version.
18
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21 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
22 for more details.
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24 You should have received a copy of the GNU General Public License
25 along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
26
27\*---------------------------------------------------------------------------*/
28
29#include "Pa.H"
30#include "rigidBodyModel.H"
32
33// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
34
35namespace Foam
36{
37namespace RBD
38{
39namespace joints
40{
42
44 (
45 joint,
46 Pa,
48 );
49}
50}
51}
52
53
54// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
55
57:
58 joint(1)
59{
60 S_[0] = spatialVector(Zero, axis/mag(axis));
61}
62
63
65:
66 Pa(dict.get<vector>("axis"))
67{}
68
69
71{
72 return autoPtr<joint>(new Pa(*this));
73}
74
75
76// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
77
79{}
80
81
82// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
83
85(
86 joint::XSvc& J,
87 const scalarField& q,
88 const scalarField& qDot
89) const
90{
91 J.X = Xt(S_[0].l()*q[qIndex_]);
92 J.S1 = S_[0];
93 J.v = S_[0]*qDot[qIndex_];
94 J.c = Zero;
95}
96
97
99{
101 os.writeEntry("axis", S_[0].l());
102}
103
104
105// ************************************************************************* //
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,...
Definition: Ostream.H:62
Joint state returned by jcalc.
Definition: joint.H:125
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:142
spatialVector v
The constrained joint velocity.
Definition: joint.H:138
spatialVector S1
The joint motion sub-space (1-DoF)
Definition: joint.H:135
spatialTransform X
The joint transformation.
Definition: joint.H:129
Abstract base-class for all rigid-body joints.
Definition: joint.H:85
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:92
Prismatic joint for translation along the specified arbitrary axis.
Definition: Pa.H:68
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Pa.C:70
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Definition: Pa.C:85
virtual ~Pa()
Destructor.
Definition: Pa.C:78
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
Definition: autoPtr.H:66
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Definition: dictionary.H:126
virtual bool write()
Write the output fields.
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition: className.H:121
OBJstream os(runTime.globalPath()/outputName)
Namespace for OpenFOAM.
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.
Definition: spatialVector.H:50
static constexpr const zero Zero
Global zero (0)
Definition: zero.H:131
dictionary dict