49#ifndef rigidBodyMotion_H
50#define rigidBodyMotion_H
150 inline bool report()
const;
A 1D array of objects of type <T>, where the size of the vector is known and used for subscript bound...
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
Holds the motion state of rigid-body model.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
const Time & time() const
Return the time.
label bodyID(const word &name) const
Return the ID of the body with the given name.
Six degree of freedom motion for a rigid body.
void newTime()
Store the motion state at the beginning of the time-step.
spatialTransform X00(const label bodyId) const
Return the initial transform to the global frame for the.
bool report() const
Return the report Switch.
tmp< pointField > transformPoints(const label bodyID, const pointField &initialPoints) const
Transform the given initial pointField of the specified body.
const vector vCofR(const label bodyID) const
Report linear velocity of the given body.
~rigidBodyMotion()
Destructor.
const rigidBodyModelState & state() const
Return the motion state.
bool read(const dictionary &dict)
Read coefficients dictionary and update system parameters,.
void status(const label bodyID) const
Report the status of the motion of the given body.
void forwardDynamics(rigidBodyModelState &state, const scalarField &tau, const Field< spatialVector > &fx) const
Calculate and optionally relax the joint acceleration qDdot from.
const vector cCofR(const label bodyID) const
Report CofR of the given body.
A simple wrapper around bool so that it can be read as a word: true/false, on/off,...
Class to control time during OpenFOAM simulations that is also the top-level objectRegistry.
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
A class for managing temporary objects.