Spherical joint for rotation about the x/y/z-axes using Euler-angles in the order y, x, z. More...
Public Member Functions | |
| TypeName ("Ryxz") | |
| Runtime type information. More... | |
| Ryxz () | |
| Construct for given model. More... | |
| Ryxz (const dictionary &dict) | |
| Construct for given model from dictionary. More... | |
| virtual autoPtr< joint > | clone () const |
| Clone this joint. More... | |
| virtual | ~Ryxz () |
| Destructor. More... | |
| virtual void | jcalc (joint::XSvc &J, const scalarField &q, const scalarField &qDot) const |
| Update the model state for this joint. More... | |
 Public Member Functions inherited from joint | |
| TypeName ("joint") | |
| Runtime type information. More... | |
| declareRunTimeSelectionTable (autoPtr, joint, dictionary,(const dictionary &dict),(dict)) | |
| joint (const label nDoF) | |
| Construct joint setting the size of the motion sub-space. More... | |
| virtual autoPtr< joint > | clone () const =0 |
| Clone this joint (needed by PtrList) More... | |
| virtual | ~joint () |
| Destructor. More... | |
| label | nDoF () const |
| Return the number of degrees of freedom in this joint. More... | |
| virtual bool | unitQuaternion () const |
| Return true if this joint describes rotation using a quaternion. More... | |
| label | index () const |
| Return the index of this joint in the model. More... | |
| label | qIndex () const |
| Return start index for the state variables for this joint. More... | |
| const List< spatialVector > & | S () const |
| Return the joint motion sub-space. More... | |
| virtual void | jcalc (XSvc &J, const scalarField &q, const scalarField &qDot) const =0 |
| Update the rigidBodyModel state for the joint given. More... | |
| virtual void | write (Ostream &) const |
| Write. More... | |
| quaternion | unitQuaternion (const scalarField &q) const |
| Return the unit quaternion for this joint. More... | |
| void | unitQuaternion (const quaternion &quat, scalarField &q) const |
| Set the unit quaternion for this joint. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from joint | |
| static autoPtr< joint > | New (joint *jointPtr) |
| Simple selector to return an autoPtr<joint> of the given joint*. More... | |
| static autoPtr< joint > | New (const dictionary &dict) |
| Select from dictionary. More... | |
| Protected Attributes inherited from joint | |
| List< spatialVector > | S_ |
| Joint motion sub-space. More... | |
| label | index_ |
| Index of this joint in the rigidBodyModel. More... | |
| label | qIndex_ |
| Index of this joints data in the rigidBodyModel state. More... | |
Spherical joint for rotation about the x/y/z-axes using Euler-angles in the order y, x, z.
Reference:
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
Chapter 4.
| Ryxz | ( | const dictionary & | dict | ) |
| TypeName | ( | "Ryxz" | ) |
Runtime type information.
|
virtual |
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virtual |
Update the model state for this joint.
Implements joint.
Definition at line 89 of file Ryxz.C.
References Field< Type >::block(), joint::XSvc::c, Foam::cos(), spatialTransform::E(), spatialTransform::r(), joint::XSvc::S, Foam::sin(), joint::XSvc::v, Vector< Cmpt >::x(), joint::XSvc::X, MatrixSpace< Form, Cmpt, Mrows, Ncols >::xx(), MatrixSpace< Form, Cmpt, Mrows, Ncols >::xy(), Vector< Cmpt >::y(), MatrixSpace< Form, Cmpt, Mrows, Ncols >::yx(), MatrixSpace< Form, Cmpt, Mrows, Ncols >::yy(), Vector< Cmpt >::z(), Foam::Zero, MatrixSpace< Form, Cmpt, Mrows, Ncols >::zx(), and MatrixSpace< Form, Cmpt, Mrows, Ncols >::zz().
1.9.5