Macros for easy insertion into run-time selection tables.
#define addToRunTimeSelectionTable(baseType, thisType, argNames)
Add to construction table with typeName as the key.
VSForm block(const label start) const
Joint state returned by jcalc.
spatialVector c
The constrained joint acceleration correction.
compactSpatialTensor S
The joint motion sub-space (3-DoF)
spatialVector v
The constrained joint velocity.
spatialTransform X
The joint transformation.
Abstract base-class for all rigid-body joints.
List< spatialVector > S_
Joint motion sub-space.
Prismatic joint for translation in the x/y/z directions.
virtual autoPtr< joint > clone() const
Clone this joint.
virtual void jcalc(joint::XSvc &J, const scalarField &q, const scalarField &qDot) const
Update the model state for this joint.
Pxyz()
Construct for given model.
virtual ~Pxyz()
Destructor.
Pointer management similar to std::unique_ptr, with some additional methods and type checking.
A list of keyword definitions, which are a keyword followed by a number of values (eg,...
#define defineTypeNameAndDebug(Type, DebugSwitch)
Define the typeName and debug information.
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
static constexpr const zero Zero
Global zero (0)