gazebo::physics::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	GetMuPrimary ()
	Get the friction coefficient in the primary direction. More...
double	GetMuSecondary ()
	Get the friction coefficient in the secondary direction. 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...

Public Attributes
math::Vector3	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

gazebo::physics::FrictionPyramid::FrictionPyramid

(

)

Constructor.

virtual gazebo::physics::FrictionPyramid::~FrictionPyramid ( )

virtual

Destructor.

Member Function Documentation

double gazebo::physics::FrictionPyramid::GetMuPrimary

(

)

Get the friction coefficient in the primary direction.

Returns

Friction coefficient in primary direction.

double gazebo::physics::FrictionPyramid::GetMuSecondary

(

)

Get the friction coefficient in the secondary direction.

Returns

Friction coefficient in secondary direction.

void gazebo::physics::FrictionPyramid::SetMuPrimary

(

double

_mu)

Set the friction coefficient in the primary direction.

Parameters

[in]

_mu

Friction coefficient.

void gazebo::physics::FrictionPyramid::SetMuSecondary

(

double

_mu)

Set the friction coefficient in the secondary direction.

Parameters

[in]

_mu

Friction coefficient.

Member Data Documentation

math::Vector3 gazebo::physics::FrictionPyramid::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 consstrained 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:

• SurfaceParams.hh