sdf::SDF_VERSION_NAMESPACE::BulletFriction Class Reference

BulletFriction information for a friction. More...

#include <Surface.hh>

Public Member Functions
	BulletFriction ()
	Default constructor. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
const gz::math::Vector3d &	Fdir1 () const
	Get the first friction pyramid direction in collision-fixed reference. More...
double	Friction () const
	Get the friction coefficient in first friction pyramid direction. More...
double	Friction2 () const
	Get the friction coefficient in second friction pyramid direction. More...
Errors	Load (ElementPtr _sdf)
	Load BulletFriction friction based on a element pointer. More...
double	RollingFriction () const
	Get the rolling friction coefficient. More...
void	SetFdir1 (const gz::math::Vector3d &_fdir)
	Set the first friction pyramid direction in collision-fixed reference. More...
void	SetFriction (double _friction)
	Set friction coefficient in first friction pyramid direction. More...
void	SetFriction2 (double _friction)
	Set friction coefficient in second friction pyramid direction. More...
void	SetRollingFriction (double _friction)
	Set the rolling friction coefficient. More...

Detailed Description

BulletFriction information for a friction.

Constructor & Destructor Documentation

BulletFriction()

sdf::SDF_VERSION_NAMESPACE::BulletFriction::BulletFriction

(

)

Default constructor.

Member Function Documentation

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::BulletFriction::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

Fdir1()

const gz::math::Vector3d& sdf::SDF_VERSION_NAMESPACE::BulletFriction::Fdir1

(

)

const

Get the first friction pyramid direction in collision-fixed reference.

Returns

First friction pyramid direction.

Friction()

double sdf::SDF_VERSION_NAMESPACE::BulletFriction::Friction

(

)

const

Get the friction coefficient in first friction pyramid direction.

Returns

Friction coefficient

Friction2()

double sdf::SDF_VERSION_NAMESPACE::BulletFriction::Friction2

(

)

const

Get the friction coefficient in second friction pyramid direction.

Returns

Second friction coefficient

Load()

Errors sdf::SDF_VERSION_NAMESPACE::BulletFriction::Load

(

ElementPtr

_sdf

)

Load BulletFriction friction based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

RollingFriction()

double sdf::SDF_VERSION_NAMESPACE::BulletFriction::RollingFriction

(

)

const

Get the rolling friction coefficient.

Returns

Rolling friction coefficient

SetFdir1()

void sdf::SDF_VERSION_NAMESPACE::BulletFriction::SetFdir1

(

const gz::math::Vector3d &

_fdir

)

Set the first friction pyramid direction in collision-fixed reference.

Parameters

[in]

_fdir

First friction pyramid direction.

SetFriction()

void sdf::SDF_VERSION_NAMESPACE::BulletFriction::SetFriction

(

double

_friction

)

Set friction coefficient in first friction pyramid direction.

Parameters

[in]

_fricton

Friction coefficient

SetFriction2()

void sdf::SDF_VERSION_NAMESPACE::BulletFriction::SetFriction2

(

double

_friction

)

Set friction coefficient in second friction pyramid direction.

Parameters

[in]

_fricton

Friction coefficient

SetRollingFriction()

void sdf::SDF_VERSION_NAMESPACE::BulletFriction::SetRollingFriction

(

double

_friction

)

Set the rolling friction coefficient.

Parameters

[in]

_slip1

Rolling friction coefficient

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

• Surface.hh