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.
92 lines
2.6 KiB
C
92 lines
2.6 KiB
C
/*---------------------------------------------------------------------------*\
|
|
========= |
|
|
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
|
|
\\ / O peration |
|
|
\\ / A nd | Copyright (C) 2016 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/>.
|
|
|
|
\*---------------------------------------------------------------------------*/
|
|
|
|
#include "rigidBodyModelState.H"
|
|
#include "IOstreams.H"
|
|
|
|
// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
|
|
|
|
void Foam::RBD::rigidBodyModelState::write(dictionary& dict) const
|
|
{
|
|
dict.add("q", q_);
|
|
dict.add("qDot", qDot_);
|
|
dict.add("qDdot", qDdot_);
|
|
}
|
|
|
|
|
|
void Foam::RBD::rigidBodyModelState::write(Ostream& os) const
|
|
{
|
|
os.writeKeyword("q") << q_ << token::END_STATEMENT << nl;
|
|
os.writeKeyword("qDot") << qDot_ << token::END_STATEMENT << nl;
|
|
os.writeKeyword("qDdot") << qDdot_ << token::END_STATEMENT << nl;
|
|
}
|
|
|
|
|
|
// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
|
|
|
|
Foam::Istream& Foam::RBD::operator>>
|
|
(
|
|
Istream& is,
|
|
rigidBodyModelState& state
|
|
)
|
|
{
|
|
is >> state.q_
|
|
>> state.qDot_
|
|
>> state.qDdot_;
|
|
|
|
// Check state of Istream
|
|
is.check
|
|
(
|
|
"Foam::Istream& Foam::operator>>"
|
|
"(Foam::Istream&, Foam::RBD::rigidBodyModelState&)"
|
|
);
|
|
|
|
return is;
|
|
}
|
|
|
|
|
|
Foam::Ostream& Foam::RBD::operator<<
|
|
(
|
|
Ostream& os,
|
|
const rigidBodyModelState& state
|
|
)
|
|
{
|
|
os << token::SPACE << state.q_
|
|
<< token::SPACE << state.qDot_
|
|
<< token::SPACE << state.qDdot_;
|
|
|
|
// Check state of Ostream
|
|
os.check
|
|
(
|
|
"Foam::Ostream& Foam::operator<<(Foam::Ostream&, "
|
|
"const Foam::RBD::rigidBodyModelState&)"
|
|
);
|
|
|
|
return os;
|
|
}
|
|
|
|
|
|
// ************************************************************************* //
|