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========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration | Website: https://openfoam.org
\\ / A nd | Copyright (C) 2018-2025 OpenFOAM Foundation
\\/ M anipulation |
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
OpenFOAM is free software: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
for more details.
You should have received a copy of the GNU General Public License
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
Class
Foam::RBD::joints::functionDot
Description
Joint in which the position is a function of the parent joint's velocity
Reference:
\verbatim
Featherstone, R. (2008).
Rigid body dynamics algorithms.
Springer.
Chapter 4.
\endverbatim
SourceFiles
functionDot.C
\*---------------------------------------------------------------------------*/
#ifndef functionDot_RBD_joint_H
#define functionDot_RBD_joint_H
#include "joint.H"
#include "Function1.H"
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
namespace RBD
{
namespace joints
{
/*---------------------------------------------------------------------------*\
Class functionDot Declaration
\*---------------------------------------------------------------------------*/
class functionDot
:
public joint
{
// Private Data
//- Function
autoPtr<Function1<scalar>> f_;
//- Difference used to calculate the gradient of the function
const scalar delta_;
public:
//- Runtime type information
TypeName("functionDot");
// Constructors
//- Construct for given model from dictionary
functionDot(const rigidBodyModel& model, const dictionary& dict);
//- Clone this joint
virtual autoPtr<joint> clone() const;
//- Destructor
virtual ~functionDot();
// Member Functions
//- Update the model state for this joint
virtual void jcalc
(
joint::XSvc& J,
const rigidBodyModelState& state
) const;
};
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace joints
} // End namespace RBD
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************************************************************* //
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