compositeJoint.H
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1/*---------------------------------------------------------------------------*\
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3 \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
4 \\ / O peration |
5 \\ / A nd | www.openfoam.com
6 \\/ M anipulation |
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8 Copyright (C) 2016 OpenFOAM Foundation
9-------------------------------------------------------------------------------
10License
11 This file is part of OpenFOAM.
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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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23 You should have received a copy of the GNU General Public License
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25
26Class
27 Foam::RBD::joints::composite
28
29Group
30 grpRigidBodyDynamicsJoints
31
32Description
33 Prismatic joint for translation along the specified arbitrary axis.
34
35 Reference:
36 \verbatim
37 Featherstone, R. (2008).
38 Rigid body dynamics algorithms.
39 Springer.
40 Chapter 4.
41 \endverbatim
42
43SourceFiles
44 composite.C
45
46\*---------------------------------------------------------------------------*/
47
48#ifndef RBD_joints_composite_H
49#define RBD_joints_composite_H
50
51#include "joint.H"
52
53// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
54
55namespace Foam
56{
57namespace RBD
58{
59
60// Forward declaration of classes
61class rigidBodyModel;
62
63namespace joints
64{
65
66/*---------------------------------------------------------------------------*\
67 Class composite Declaration
68\*---------------------------------------------------------------------------*/
70class composite
71:
72 public PtrList<joint>,
73 public joint
74{
75 // Private member functions
76
77 //- Set the properties of the last joint following construction
78 // of the body containing the joint
79 void setLastJoint();
80
81
82public:
83
84 //- Runtime type information
85 TypeName("composite");
86
87 //- Allow the rigidBodyModel class to set the last joint state
88 friend class Foam::RBD::rigidBodyModel;
89
90
91 // Constructors
92
93 //- Construct for given PtrList<joint>
94 composite(const PtrList<joint>& joints);
95
96 //- Construct for given model from dictionary
98
99 //- Clone this joint
100 virtual autoPtr<joint> clone() const;
101
102
103 //- Destructor
104 virtual ~composite();
105
106
107 // Member Functions
108
109 //- Update the model state for this joint
110 virtual void jcalc
111 (
112 joint::XSvc& J,
113 const scalarField& q,
114 const scalarField& qDot
115 ) const;
116
117 //- Write
118 virtual void write(Ostream&) const;
119};
120
121
122// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
123
124} // End namespace joints
125} // End namespace RBD
126} // End namespace Foam
127
128// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
129
130#endif
131
132// ************************************************************************* //
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
Definition: Ostream.H:62
A list of pointers to objects of type <T>, with allocation/deallocation management of the pointers....
Definition: PtrList.H:73
Joint state returned by jcalc.
Definition: joint.H:125
Abstract base-class for all rigid-body joints.
Definition: joint.H:85
Prismatic joint for translation along the specified arbitrary axis.
virtual autoPtr< joint > clone() const
Clone this joint.
virtual ~composite()
Destructor.
TypeName("composite")
Runtime type information.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
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
Namespace for OpenFOAM.
runTime write()
dictionary dict
#define TypeName(TypeNameString)
Declare a ClassName() with extra virtual type info.
Definition: typeInfo.H:73