Revolute joint for rotation about the z-axis. More...
Public Member Functions | |
TypeName ("Rz") | |
Runtime type information. More... | |
Rz () | |
Construct for given model. More... | |
Rz (const dictionary &dict) | |
Construct for given model from dictionary. More... | |
virtual autoPtr< joint > | clone () const |
Clone this joint. More... | |
virtual | ~Rz () |
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... | |
Revolute joint for rotation about the z-axis.
Reference:
Featherstone, R. (2008). Rigid body dynamics algorithms. Springer. Chapter 4.
Rz | ( | const dictionary & | dict | ) |
TypeName | ( | "Rz" | ) |
Runtime type information.
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virtual |
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virtual |
Update the model state for this joint.
Implements joint.
Definition at line 85 of file Rz.C.
References joint::XSvc::c, joint::XSvc::S1, joint::XSvc::v, SpatialVector< Cmpt >::wz(), joint::XSvc::X, Foam::Xrz(), and Foam::Zero.