Rz Class Reference

Revolute joint for rotation about the z-axis. More...

Inheritance diagram for Rz:
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Collaboration diagram for Rz:
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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< jointclone () 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< jointclone () 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< jointNew (joint *jointPtr)
 Simple selector to return an autoPtr<joint> of the given joint*. More...
 
static autoPtr< jointNew (const dictionary &dict)
 Select from dictionary. More...
 
- Protected Attributes inherited from joint
List< spatialVectorS_
 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...
 

Detailed Description

Revolute joint for rotation about the z-axis.

Reference:

    Featherstone, R. (2008).
    Rigid body dynamics algorithms.
    Springer.
    Chapter 4.
Source files

Definition at line 65 of file Rz.H.

Constructor & Destructor Documentation

◆ Rz() [1/2]

Rz ( )

Construct for given model.

Definition at line 55 of file Rz.C.

References joint::S_.

◆ Rz() [2/2]

Rz ( const dictionary dict)

Construct for given model from dictionary.

Definition at line 63 of file Rz.C.

References joint::S_.

◆ ~Rz()

~Rz ( )
virtual

Destructor.

Definition at line 79 of file Rz.C.

Member Function Documentation

◆ TypeName()

TypeName ( "Rz"  )

Runtime type information.

◆ clone()

Foam::autoPtr< Foam::RBD::joint > clone ( ) const
virtual

Clone this joint.

Implements joint.

Definition at line 71 of file Rz.C.

◆ jcalc()

void jcalc ( joint::XSvc J,
const scalarField q,
const scalarField qDot 
) const
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.

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The documentation for this class was generated from the following files: