Added acceleration access function to sixDOFODE interface

1. Translational acceleration in absolute coordinate system (A)
2. Rotational acceleration in relative coordinate system (OmegaDot)

src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.C

@@ -455,6 +455,20 @@ const Foam::dimensionedVector& Foam::geometricSixDOF::omegaAverage() const
 }
 
 
+Foam::dimensionedVector Foam::geometricSixDOF::translationalAcceleration() const
+{
+    // Calculate and return translational acceleration in global c. s.
+    return A(Xrel(), Uaverage(), rotation_, dict().time().value());
+}
+
+
+Foam::dimensionedVector Foam::geometricSixDOF::rotationalAcceleration() const
+{
+    // Calculate and return rotational acceleration in relative c. s.
+    return OmegaDot(rotation_, omegaAverage(), dict().time().value());
+}
+
+
 Foam::tensor Foam::geometricSixDOF::toRelative() const
 {
     return rotation_.T();

src/ODE/sixDOF/geometricSixDOF/geometricSixDOF.H

@@ -235,6 +235,15 @@ public:
                 virtual const dimensionedVector& omegaAverage() const;
 
 
+            // Accelerations in the current time-step
+
+                //- Translational acceleration in absolute coordinate system
+                virtual dimensionedVector translationalAcceleration() const;
+
+                //- Rotational acceleration in relative coordinate system
+                virtual dimensionedVector rotationalAcceleration() const;
+
+
             // Rotations
 
                 //- Return rotation tensor to relative coordinate system

src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.C

@@ -376,6 +376,23 @@ const Foam::dimensionedVector& Foam::quaternionSixDOF::omegaAverage() const
 }
 
 
+Foam::dimensionedVector
+Foam::quaternionSixDOF::translationalAcceleration() const
+{
+    // Calculate and return translational acceleration in global c. s.
+    return A(Xrel(), Uaverage(), rotation_.eCurrent(), dict().time().value());
+}
+
+
+Foam::dimensionedVector
+Foam::quaternionSixDOF::rotationalAcceleration() const
+{
+    // Calculate and return rotational acceleration in relative c. s.
+    return
+        OmegaDot(rotation_.eCurrent(), omegaAverage(), dict().time().value());
+}
+
+
 Foam::tensor Foam::quaternionSixDOF::toRelative() const
 {
     return rotation_.eCurrent().R();

src/ODE/sixDOF/quaternionSixDOF/quaternionSixDOF.H

@@ -202,6 +202,15 @@ public:
                 virtual const dimensionedVector& omegaAverage() const;
 
 
+            // Accelerations in the current time-step
+
+                //- Translational acceleration in absolute coordinate system
+                virtual dimensionedVector translationalAcceleration() const;
+
+                //- Rotational acceleration in relative coordinate system
+                virtual dimensionedVector rotationalAcceleration() const;
+
+
             // Rotations
 
                 //- Return rotation tensor to relative coordinate system

src/ODE/sixDOF/sixDOFODE/sixDOFODE.H

@@ -384,6 +384,15 @@ public:
                 virtual const dimensionedVector& omegaAverage() const = 0;
 
 
+            // Accelerations in the current time-step
+
+                //- Translational acceleration in absolute coordinate system
+                virtual dimensionedVector translationalAcceleration() const = 0;
+
+                //- Rotational acceleration in relative coordinate system
+                virtual dimensionedVector rotationalAcceleration() const = 0;
+
+
             // Rotations
 
                 //- Return rotation tensor to relative coordinate system