FrictionPyramid Class Reference

Parameters used for friction pyramid model. More...

#include <physics/physics.hh>

Public Member Functions

 FrictionPyramid ()
 Constructor. More...
 
virtual ~FrictionPyramid ()
 Destructor. More...
 
double ElasticModulus () const
 Get the elastic modulus. More...
 
double MuPrimary () const
 Get the friction coefficient in the primary direction. More...
 
double MuSecondary () const
 Get the friction coefficient in the secondary direction. More...
 
double MuTorsion () const
 Get the torsional friction coefficient. More...
 
double PatchRadius () const
 Get the torsional patch radius. More...
 
double PoissonsRatio () const
 Get the Poisson's ratio. More...
 
void SetElasticModulus (const double _modulus)
 Set the elastic modulus. More...
 
void SetMuPrimary (double _mu)
 Set the friction coefficient in the primary direction. More...
 
void SetMuSecondary (double _mu)
 Set the friction coefficient in the secondary direction. More...
 
void SetMuTorsion (const double _mu)
 Set the torsional friction coefficient. More...
 
void SetPatchRadius (const double _radius)
 Set the torsional patch radius. More...
 
void SetPoissonsRatio (const double _ratio)
 Set the Poisson's ratio. More...
 
void SetSurfaceRadius (const double _radius)
 Set the torsional surface radius. More...
 
void SetUsePatchRadius (const bool _use)
 Set whether to use the surface radius. More...
 
double SurfaceRadius () const
 Get the torsional surface radius. More...
 
bool UsePatchRadius () const
 Get the torsional "use patch radius" flag. More...
 

Public Attributes

ignition::math::Vector3d direction1
 Vector for specifying the primary friction direction, relative to the parent collision frame. More...
 

Detailed Description

Parameters used for friction pyramid model.

Constructor & Destructor Documentation

Constructor.

virtual ~FrictionPyramid ( )
virtual

Destructor.

Member Function Documentation

double ElasticModulus ( ) const

Get the elastic modulus.

Returns
elastic modulus
double MuPrimary ( ) const

Get the friction coefficient in the primary direction.

Returns
Friction coefficient in primary direction.
double MuSecondary ( ) const

Get the friction coefficient in the secondary direction.

Returns
Friction coefficient in secondary direction.
double MuTorsion ( ) const

Get the torsional friction coefficient.

Returns
Torsional friction coefficient.
double PatchRadius ( ) const

Get the torsional patch radius.

Returns
Torsional patch radius.
double PoissonsRatio ( ) const

Get the Poisson's ratio.

Returns
Poisson's ratio
void SetElasticModulus ( const double  _modulus)

Set the elastic modulus.

Parameters
[in]_moduluselastic modulus to set to
void SetMuPrimary ( double  _mu)

Set the friction coefficient in the primary direction.

Parameters
[in]_muFriction coefficient.
void SetMuSecondary ( double  _mu)

Set the friction coefficient in the secondary direction.

Parameters
[in]_muFriction coefficient.
void SetMuTorsion ( const double  _mu)

Set the torsional friction coefficient.

Parameters
[in]_muTorsional friction coefficient.
void SetPatchRadius ( const double  _radius)

Set the torsional patch radius.

Parameters
[in]_radiusTorsional patch radius.
void SetPoissonsRatio ( const double  _ratio)

Set the Poisson's ratio.

Parameters
[in]_ratioPoisson's ratio
void SetSurfaceRadius ( const double  _radius)

Set the torsional surface radius.

Parameters
[in]_radiusTorsional surface radius.
void SetUsePatchRadius ( const bool  _use)

Set whether to use the surface radius.

Parameters
[in]_useTrue to use the surface radius.
double SurfaceRadius ( ) const

Get the torsional surface radius.

Returns
Torsional surface radius.
bool UsePatchRadius ( ) const

Get the torsional "use patch radius" flag.

Returns
Torsional "use patch radius" flag.

Member Data Documentation

ignition::math::Vector3d direction1

Vector for specifying the primary friction direction, relative to the parent collision frame.

The component of this vector that is orthogonal to the surface normal will be set as the primary friction direction. If undefined, a vector constrained to be perpendicular to the contact normal in the global y-z plane is used.

See also
http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

The documentation for this class was generated from the following file: