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98 scalar s0 =
sin(qj.
x());
99 scalar c0 =
cos(qj.
x());
100 scalar s1 =
sin(qj.
y());
102 scalar s2 =
sin(qj.
z());
108 c0*s1*s2 - s0*
c2, s0*s1*s2 + c0*
c2,
c1*s2,
109 c0*s1*
c2 + s0*s2, s0*s1*
c2 - c0*s2,
c1*
c2
126 -
c1*qDotj.
x()*qDotj.
y(),
128 -s1*s2*qDotj.
x()*qDotj.
y()
129 +
c1*
c2*qDotj.
x()*qDotj.
z()
130 - s2*qDotj.
y()*qDotj.
z(),
132 -s1*
c2*qDotj.
x()*qDotj.
y()
133 -
c1*s2*qDotj.
x()*qDotj.
z()
134 -
c2*qDotj.
y()*qDotj.
z(),
const Cmpt & x() const
Access to the vector x component.
static constexpr const zero Zero
Global zero (0)
addToRunTimeSelectionTable(joint, composite, dictionary)
dimensionedScalar sin(const dimensionedScalar &ds)
const Cmpt & z() const
Access to the vector z component.
Joint state returned by jcalc.
spatialVector c
The constrained joint acceleration correction.
const dimensionedScalar c1
First radiation constant: default SI units: [W/m2].
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
spatialTransform X
The joint transformation.
Rzyx()
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)
const dimensionedScalar c2
Second radiation constant: default SI units: [m.K].
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
const Cmpt & y() const
Access to the vector y component.
virtual autoPtr< joint > clone() const
Clone this joint.
Spherical joint for rotation about the x/y/z-axes using Euler-angles in the order z,...
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 ~Rzyx()
Destructor.
Tensor< scalar > tensor
Tensor of scalars, i.e. Tensor<scalar>.
dimensionedScalar cos(const dimensionedScalar &ds)