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Public Member Functions | List of all members
sdf::SDF_VERSION_NAMESPACE::BulletFriction Class Reference

BulletFriction information for a friction. More...

#include <Surface.hh>

Public Member Functions

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

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]_sdfThe 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]_fdirFirst friction pyramid direction.

◆ SetFriction()

void sdf::SDF_VERSION_NAMESPACE::BulletFriction::SetFriction ( double  _friction)

Set friction coefficient in first friction pyramid direction.

Parameters
[in]_frictonFriction coefficient

◆ SetFriction2()

void sdf::SDF_VERSION_NAMESPACE::BulletFriction::SetFriction2 ( double  _friction)

Set friction coefficient in second friction pyramid direction.

Parameters
[in]_frictonFriction coefficient

◆ SetRollingFriction()

void sdf::SDF_VERSION_NAMESPACE::BulletFriction::SetRollingFriction ( double  _friction)

Set the rolling friction coefficient.

Parameters
[in]_slip1Rolling friction coefficient

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