static constexpr const zero Zero
Global zero (0)
addToRunTimeSelectionTable(joint, composite, dictionary)
Joint state returned by jcalc.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
spatialVector c
The constrained joint acceleration correction.
virtual bool unitQuaternion() const
Return true as this joint describes rotation using a quaternion.
Spherical joint for rotation about the x/y/z-axes using a quaternion (Euler parameters) to avoid gimb...
spatialTransform X
The joint transformation.
Rs()
Construct for given model.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Macros for easy insertion into run-time selection tables.
defineTypeNameAndDebug(composite, 0)
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
virtual autoPtr< joint > clone() const
Clone this joint.
VSForm block(const label start) const
List< spatialVector > S_
Joint motion sub-space.
Abstract base-class for all rigid-body joints.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
spatialVector v
The constrained joint velocity.
virtual bool unitQuaternion() const
Return true if this joint describes rotation using a quaternion.