98 scalar s0 =
sin(qj.
x());
99 scalar c0 =
cos(qj.
x());
100 scalar s1 =
sin(qj.
y());
101 scalar c1 =
cos(qj.
y());
102 scalar s2 =
sin(qj.
z());
103 scalar c2 =
cos(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(),
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.
Spherical joint for rotation about the x/y/z-axes using Euler-angles in the order z,...
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.
Rzyx()
Construct for given model.
virtual ~Rzyx()
Destructor.
const Cmpt & z() const
Access to the vector z component.
const Cmpt & y() const
Access to the vector y component.
const Cmpt & x() const
Access to the vector x component.
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.
dimensionedScalar sin(const dimensionedScalar &ds)
SpatialVector< scalar > spatialVector
SpatialVector of scalars.
static constexpr const zero Zero
Global zero (0)
dimensionedScalar cos(const dimensionedScalar &ds)