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92 J.
X =
Xrz(q[qIndex_]);
95 J.
v.
wz() = qDot[qIndex_];
static constexpr const zero Zero
Global zero (0)
addToRunTimeSelectionTable(joint, composite, dictionary)
tensor Rz(const scalar &omega)
Rotational transformation tensor about the z-axis by omega radians.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Joint state returned by jcalc.
spatialVector c
The constrained joint acceleration correction.
Rz()
Construct for given model.
spatialTransform X
The joint transformation.
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.
List< spatialVector > S_
Joint motion sub-space.
Abstract base-class for all rigid-body joints.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
spatialVector S1
The joint motion sub-space (1-DoF)
spatialVector v
The constrained joint velocity.
spatialTransform Xrz(const scalar &omega)
Rotational spatial transformation tensor about the z-axis by omega radians.