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

Torsional friction. More...

#include <Surface.hh>

Public Member Functions

 Torsional ()
 Default constructor.
 
double Coefficient () const
 Get the torsional friction coefficient.
 
sdf::ElementPtr Element () const
 Get a pointer to the SDF element that was used during load.
 
Errors Load (ElementPtr _sdf)
 Load torsional friction based on a element pointer.
 
double ODESlip () const
 Get the ODE force dependent slip for torsional friction.
 
double PatchRadius () const
 Get the radius of contact patch surface.
 
void SetCoefficient (double _coefficient)
 Set the torsional friction coefficient.
 
void SetODESlip (double _slip)
 Set the ODE force dependent slip for torsional friction.
 
void SetPatchRadius (double _radius)
 Set the radius of contact patch surface.
 
void SetSurfaceRadius (double _radius)
 Set the surface radius on the contact point.
 
void SetUsePatchRadius (bool _usePatchRadius)
 Set whether to use patch radius for torsional friction calculation.
 
double SurfaceRadius () const
 Get the surface radius on the contact point.
 
bool UsePatchRadius () const
 Get whether the patch radius is used to calculate torsional friction.
 

Detailed Description

Torsional friction.

Constructor & Destructor Documentation

◆ Torsional()

sdf::SDF_VERSION_NAMESPACE::Torsional::Torsional ( )

Default constructor.

Member Function Documentation

◆ Coefficient()

double sdf::SDF_VERSION_NAMESPACE::Torsional::Coefficient ( ) const

Get the torsional friction coefficient.

Returns
Torsional friction coefficient

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Torsional::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.

◆ Load()

Errors sdf::SDF_VERSION_NAMESPACE::Torsional::Load ( ElementPtr  _sdf)

Load torsional 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.

◆ ODESlip()

double sdf::SDF_VERSION_NAMESPACE::Torsional::ODESlip ( ) const

Get the ODE force dependent slip for torsional friction.

Returns
Force dependent slip for torsional friction.

◆ PatchRadius()

double sdf::SDF_VERSION_NAMESPACE::Torsional::PatchRadius ( ) const

Get the radius of contact patch surface.

Returns
Patch radius

◆ SetCoefficient()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetCoefficient ( double  _coefficient)

Set the torsional friction coefficient.

Parameters
[in]_frictonTorsional friction coefficient

◆ SetODESlip()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetODESlip ( double  _slip)

Set the ODE force dependent slip for torsional friction.

Parameters
[in]_slipForce dependent slip for torsional friction.

◆ SetPatchRadius()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetPatchRadius ( double  _radius)

Set the radius of contact patch surface.

Parameters
[in]_radiusPatch radius

◆ SetSurfaceRadius()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetSurfaceRadius ( double  _radius)

Set the surface radius on the contact point.

Parameters
[in]_radiusSurface radius

◆ SetUsePatchRadius()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetUsePatchRadius ( bool  _usePatchRadius)

Set whether to use patch radius for torsional friction calculation.

Parameters
[in]_usePatchRadiusTrue to use patch radius. False to use surface radius.

◆ SurfaceRadius()

double sdf::SDF_VERSION_NAMESPACE::Torsional::SurfaceRadius ( ) const

Get the surface radius on the contact point.

Returns
Surface radius

◆ UsePatchRadius()

bool sdf::SDF_VERSION_NAMESPACE::Torsional::UsePatchRadius ( ) const

Get whether the patch radius is used to calculate torsional friction.

Returns
True if patch radius is used.

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