Holds the motion state of rigid-body model.
const scalarField & qDdot() const
Return access to the joint acceleration.
const scalarField & qDot() const
Return access to the joint velocity.
scalar t() const
Return access to the time.
void write(dictionary &dict) const
Write to dictionary.
Basic rigid-body model representing a system of rigid-bodies connected by 1-6 DoF joints.
const scalarField & q() const
Return access to the joint position and orientation.
friend Istream & operator>>(Istream &, rigidBodyModelState &)
scalar deltaT() const
Return access to the time-step.
rigidBodyModelState(const rigidBodyModel &model)
Construct for the given rigidBodyModel.
friend Ostream & operator<<(Ostream &, const rigidBodyModelState &)