rigidBodyModelState.C

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#include "rigidBodyModelState.H"
 
// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
 
Foam::RBD::rigidBodyModelState::rigidBodyModelState
(
    const rigidBodyModel& model
)
:
    q_(model.nDoF(), Zero),
    qDot_(model.nDoF(), Zero),
    qDdot_(model.nDoF(), Zero),
    t_(-1),
    deltaT_(0)
{}
 
 
Foam::RBD::rigidBodyModelState::rigidBodyModelState
(
    const rigidBodyModel& model,
    const dictionary& dict
)
:
    q_(dict.getOrDefault("q", scalarField(model.nDoF(), Zero))),
    qDot_(dict.getOrDefault("qDot", scalarField(model.nDoF(), Zero))),
    qDdot_(dict.getOrDefault("qDdot", scalarField(model.nDoF(), Zero))),
    t_(dict.getOrDefault<scalar>("t", -1)),
    deltaT_(dict.getOrDefault<scalar>("deltaT", 0))
{
    if
    (
        q_.size() != model.nDoF()
     || qDot_.size() != model.nDoF()
     || qDdot_.size() != model.nDoF()
    )
    {
        FatalErrorInFunction << "State parameters 'q', 'qDot', 'qDdot'"
            << " do not have the same size as the number of DoF "
            << model.nDoF()
            << ". Is your \"rigidBodyMotionState\" state file consistent?"
            << exit(FatalError);
    }
}
 
 
// ************************************************************************* //