Pz.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-------------------------------------------------------------------------------
10License
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14 under the terms of the GNU General Public License as published by
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21 for more details.
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26\*---------------------------------------------------------------------------*/
27
28#include "Pz.H"
29#include "rigidBodyModel.H"
31
32// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
33
34namespace Foam
35{
36namespace RBD
37{
38namespace joints
39{
41
43 (
44 joint,
45 Pz,
47 );
48}
49}
50}
51
52
53// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
54
56:
57 joint(1)
58{
59 S_[0] = spatialVector(0, 0, 0, 0, 0, 1);
60}
61
62
64:
65 joint(1)
66{
67 S_[0] = spatialVector(0, 0, 0, 0, 0, 1);
68}
69
70
72{
73 return autoPtr<joint>(new Pz(*this));
74}
75
76
77// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
78
80{}
81
82
83// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
84
86(
87 joint::XSvc& J,
88 const scalarField& q,
89 const scalarField& qDot
90) const
91{
92 J.X = Xt(S_[0].l()*q[qIndex_]);
93 J.S1 = S_[0];
94 J.v = S_[0]*qDot[qIndex_];
95 J.c = Zero;
96}
97
98
99// ************************************************************************* //
Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
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 x-axis.
Definition: Pz.H:68
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Pz.C:71
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Definition: Pz.C:86
virtual ~Pz()
Destructor.
Definition: Pz.C:79
Pz()
Construct for given model.
Definition: Pz.C:55
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
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
Definition: className.H:121
Namespace for OpenFOAM.
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:50
static constexpr const zero Zero
Global zero (0)
Definition: zero.H:131
dictionary dict