Pa.C
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9  Copyright (C) 2020 OpenCFD Ltd.
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27 \*---------------------------------------------------------------------------*/
28 
29 #include "Pa.H"
30 #include "rigidBodyModel.H"
32 
33 // * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
34 
35 namespace Foam
36 {
37 namespace RBD
38 {
39 namespace joints
40 {
42 
44  (
45  joint,
46  Pa,
47  dictionary
48  );
49 }
50 }
51 }
52 
53 
54 // * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
55 
57 :
58  joint(1)
59 {
60  S_[0] = spatialVector(Zero, axis/mag(axis));
61 }
62 
63 
65 :
66  Pa(dict.get<vector>("axis"))
67 {}
68 
69 
71 {
72  return autoPtr<joint>(new Pa(*this));
73 }
74 
75 
76 // * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
77 
79 {}
80 
81 
82 // * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
83 
85 (
86  joint::XSvc& J,
87  const scalarField& q,
88  const scalarField& qDot
89 ) const
90 {
91  J.X = Xt(S_[0].l()*q[qIndex_]);
92  J.S1 = S_[0];
93  J.v = S_[0]*qDot[qIndex_];
94  J.c = Zero;
95 }
96 
97 
99 {
100  joint::write(os);
101  os.writeEntry("axis", S_[0].l());
102 }
103 
104 
105 // ************************************************************************* //
Foam::RBD::joint::write
virtual void write(Ostream &) const
Write.
Definition: joint.C:84
Foam::RBD::joints::Pa::write
virtual void write(Ostream &) const
Write.
Definition: Pa.C:98
Foam::RBD::joints::Pa::jcalc
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Definition: Pa.C:85
Foam::Zero
static constexpr const zero Zero
Global zero (0)
Definition: zero.H:131
Foam::RBD::joints::addToRunTimeSelectionTable
addToRunTimeSelectionTable(joint, composite, dictionary)
Foam::RBD::joints::Pa
Prismatic joint for translation along the specified arbitrary axis.
Definition: Pa.H:65
Foam::RBD::joints::Pa::~Pa
virtual ~Pa()
Destructor.
Definition: Pa.C:78
Foam::RBD::joint::XSvc
Joint state returned by jcalc.
Definition: joint.H:124
rigidBodyModel.H
Foam::RBD::joints::Pa::clone
virtual autoPtr< joint > clone() const
Clone this joint.
Definition: Pa.C:70
Foam::RBD::joint::XSvc::c
spatialVector c
The constrained joint acceleration correction.
Definition: joint.H:142
Foam::Field< scalar >
Foam::RBD::joint::XSvc::X
spatialTransform X
The joint transformation.
Definition: joint.H:129
Foam::Xt
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
Definition: spatialTransformI.H:281
dict
dictionary dict
Definition: searchingEngine.H:14
Foam::dictionary
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
Definition: dictionary.H:123
os
OBJstream os(runTime.globalPath()/outputName)
addToRunTimeSelectionTable.H
Macros for easy insertion into run-time selection tables.
Foam::RBD::joints::defineTypeNameAndDebug
defineTypeNameAndDebug(composite, 0)
Foam
Namespace for OpenFOAM.
Definition: atmBoundaryLayer.C:33
Pa.H
Foam::autoPtr
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
Definition: HashPtrTable.H:53
Foam::RBD::joints::Pa::Pa
Pa(const vector &axis)
Construct for given model and axis.
Definition: Pa.C:56
Foam::Vector< scalar >
Foam::mag
dimensioned< typename typeOfMag< Type >::type > mag(const dimensioned< Type > &dt)
Foam::RBD::joint::S_
List< spatialVector > S_
Joint motion sub-space.
Definition: joint.H:92
Foam::PtrListOps::get
List< ReturnType > get(const UPtrList< T > &list, const AccessOp &aop)
Foam::RBD::joint
Abstract base-class for all rigid-body joints.
Definition: joint.H:84
Foam::spatialVector
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
Definition: spatialVector.H:50
Foam::Ostream
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
Definition: Ostream.H:56
Foam::RBD::joint::XSvc::S1
spatialVector S1
The joint motion sub-space (1-DoF)
Definition: joint.H:135
Foam::RBD::joint::XSvc::v
spatialVector v
The constrained joint velocity.
Definition: joint.H:138