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91 J.
X =
Xt(S_[0].l()*q[qIndex_]);
93 J.
v = S_[0]*qDot[qIndex_];
101 os.writeEntry(
"axis", S_[0].l());
virtual void write(Ostream &) const
Write.
virtual void write(Ostream &) const
Write.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
static constexpr const zero Zero
Global zero (0)
addToRunTimeSelectionTable(joint, composite, dictionary)
Prismatic joint for translation along the specified arbitrary axis.
Joint state returned by jcalc.
virtual autoPtr< joint > clone() const
Clone this joint.
spatialVector c
The constrained joint acceleration correction.
spatialTransform X
The joint transformation.
spatialTransform Xt(const vector &r)
Translational spatial transformation tensor for translation r.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
OBJstream os(runTime.globalPath()/outputName)
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.
Pa(const vector &axis)
Construct for given model and axis.
dimensioned< typename typeOfMag< Type >::type > mag(const dimensioned< Type > &dt)
List< spatialVector > S_
Joint motion sub-space.
List< ReturnType > get(const UPtrList< T > &list, const AccessOp &aop)
Abstract base-class for all rigid-body joints.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
An Ostream is an abstract base class for all output systems (streams, files, token lists,...
spatialVector S1
The joint motion sub-space (1-DoF)
spatialVector v
The constrained joint velocity.