df1cb90dc6
'w' is now obtained from 'v' using the relation w = sqrt(1 - |sqr(v)|) and 'v' is stored in the joint state field 'q' and integrated in the usual manner but corrected using quaternion transformations.
113 lines
2.8 KiB
C++
113 lines
2.8 KiB
C++
/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
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\\ / O peration |
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\\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
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\\/ M anipulation |
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-------------------------------------------------------------------------------
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License
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This file is part of OpenFOAM.
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OpenFOAM is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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for more details.
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You should have received a copy of the GNU General Public License
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along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
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Class
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Foam::RBD::joints::Ra
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Description
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Revolute joint for rotation about the specified arbitrary axis.
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Reference:
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\verbatim
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Featherstone, R. (2008).
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Rigid body dynamics algorithms.
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Springer.
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Chapter 4.
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\endverbatim
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SourceFiles
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Ra.C
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\*---------------------------------------------------------------------------*/
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#ifndef RBD_joints_Ra_H
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#define RBD_joints_Ra_H
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#include "joint.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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namespace RBD
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{
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namespace joints
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{
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/*---------------------------------------------------------------------------*\
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Class Ra Declaration
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\*---------------------------------------------------------------------------*/
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class Ra
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:
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public joint
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{
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public:
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//- Runtime type information
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TypeName("Ra");
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// Constructors
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//- Construct for given model and axis
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Ra(const vector& axis);
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//- Construct for given model from dictionary
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Ra(const dictionary& dict);
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//- Clone this joint
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virtual autoPtr<joint> clone() const;
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//- Destructor
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virtual ~Ra();
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// Member Functions
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//- Update the model state for this joint
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virtual void jcalc
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(
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joint::XSvc& J,
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const scalarField& q,
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const scalarField& qDot
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) const;
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//- Write
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virtual void write(Ostream&) const;
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace joints
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} // End namespace RBD
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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