rigidBodyModelState Class Reference

Holds the motion state of rigid-body model. More...

Public Member Functions

 rigidBodyModelState (const rigidBodyModel &model)
 Construct for the given rigidBodyModel. More...
 
 rigidBodyModelState (const rigidBodyModel &model, const dictionary &dict)
 Construct from dictionary for the given rigidBodyModel. More...
 
const scalarFieldq () const
 Return access to the joint position and orientation. More...
 
const scalarFieldqDot () const
 Return access to the joint velocity. More...
 
const scalarFieldqDdot () const
 Return access to the joint acceleration. More...
 
scalar t () const
 Return access to the time. More...
 
scalar deltaT () const
 Return access to the time-step. More...
 
scalarFieldq ()
 Return access to the joint position and orientation. More...
 
scalarFieldqDot ()
 Return access to the joint velocity. More...
 
scalarFieldqDdot ()
 Return access to the joint acceleration. More...
 
scalar & t ()
 Return access to the time. More...
 
scalar & deltaT ()
 Return access to the time-step. More...
 
void write (dictionary &dict) const
 Write to dictionary. More...
 
void write (Ostream &) const
 Write to stream. More...
 

Friends

Istreamoperator>> (Istream &, rigidBodyModelState &)
 
Ostreamoperator<< (Ostream &, const rigidBodyModelState &)
 

Detailed Description

Holds the motion state of rigid-body model.

Source files

Definition at line 67 of file rigidBodyModelState.H.

Constructor & Destructor Documentation

◆ rigidBodyModelState() [1/2]

rigidBodyModelState ( const rigidBodyModel model)

Construct for the given rigidBodyModel.

Definition at line 33 of file rigidBodyModelState.C.

◆ rigidBodyModelState() [2/2]

rigidBodyModelState ( const rigidBodyModel model,
const dictionary dict 
)

Construct from dictionary for the given rigidBodyModel.

Definition at line 46 of file rigidBodyModelState.C.

References Foam::exit(), Foam::FatalError, FatalErrorInFunction, rigidBodyModel::nDoF(), and UList< T >::size().

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Member Function Documentation

◆ q() [1/2]

const Foam::scalarField & q ( ) const
inline

Return access to the joint position and orientation.

Definition at line 30 of file rigidBodyModelStateI.H.

Referenced by rigidBodyModel::forwardDynamics(), and rigidBodyModel::forwardDynamicsCorrection().

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◆ qDot() [1/2]

const Foam::scalarField & qDot ( ) const
inline

Return access to the joint velocity.

Definition at line 36 of file rigidBodyModelStateI.H.

Referenced by rigidBodyModel::forwardDynamics(), and rigidBodyModel::forwardDynamicsCorrection().

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◆ qDdot() [1/2]

const Foam::scalarField & qDdot ( ) const
inline

Return access to the joint acceleration.

Definition at line 42 of file rigidBodyModelStateI.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyMotion::forwardDynamics(), and rigidBodyModel::forwardDynamicsCorrection().

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◆ t() [1/2]

Foam::scalar t ( ) const
inline

Return access to the time.

Definition at line 48 of file rigidBodyModelStateI.H.

Referenced by externalForce::restrain().

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◆ deltaT() [1/2]

Foam::scalar deltaT ( ) const
inline

Return access to the time-step.

Definition at line 54 of file rigidBodyModelStateI.H.

◆ q() [2/2]

Foam::scalarField & q ( )
inline

Return access to the joint position and orientation.

Definition at line 60 of file rigidBodyModelStateI.H.

◆ qDot() [2/2]

Foam::scalarField & qDot ( )
inline

Return access to the joint velocity.

Definition at line 66 of file rigidBodyModelStateI.H.

◆ qDdot() [2/2]

Foam::scalarField & qDdot ( )
inline

Return access to the joint acceleration.

Definition at line 72 of file rigidBodyModelStateI.H.

◆ t() [2/2]

Foam::scalar & t ( )
inline

Return access to the time.

Definition at line 84 of file rigidBodyModelStateI.H.

◆ deltaT() [2/2]

Foam::scalar & deltaT ( )
inline

Return access to the time-step.

Definition at line 78 of file rigidBodyModelStateI.H.

◆ write() [1/2]

void write ( dictionary dict) const

Write to dictionary.

Definition at line 33 of file rigidBodyModelStateIO.C.

References dictionary::add(), and dict.

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◆ write() [2/2]

void write ( Ostream os) const

Write to stream.

Definition at line 43 of file rigidBodyModelStateIO.C.

References os().

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Friends And Related Function Documentation

◆ operator>>

Istream & operator>> ( Istream ,
rigidBodyModelState  
)
friend

◆ operator<<

Ostream & operator<< ( Ostream ,
const rigidBodyModelState  
)
friend

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