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	ElasticModulus () const
	Get the elastic modulus. More...
double	GetMuPrimary () GAZEBO_DEPRECATED(7.0)
	Get the friction coefficient in the primary direction. More...
double	GetMuSecondary () GAZEBO_DEPRECATED(7.0)
	Get the friction coefficient in the secondary direction. 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
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::ElasticModulus

(

)

const

Get the elastic modulus.

Returns

elastic modulus

double gazebo::physics::FrictionPyramid::GetMuPrimary

(

)

Get the friction coefficient in the primary direction.

Returns

Friction coefficient in primary direction.

Deprecated:

See const function MuPrimary

double gazebo::physics::FrictionPyramid::GetMuSecondary

(

)

Get the friction coefficient in the secondary direction.

Returns

Friction coefficient in secondary direction.

Deprecated:

See const function MuSecondary

double gazebo::physics::FrictionPyramid::MuPrimary

(

)

const

Get the friction coefficient in the primary direction.

Returns

Friction coefficient in primary direction.

double gazebo::physics::FrictionPyramid::MuSecondary

(

)

const

Get the friction coefficient in the secondary direction.

Returns

Friction coefficient in secondary direction.

double gazebo::physics::FrictionPyramid::MuTorsion

(

)

const

Get the torsional friction coefficient.

Returns

Torsional friction coefficient.

double gazebo::physics::FrictionPyramid::PatchRadius

(

)

const

Get the torsional patch radius.

Returns

Torsional patch radius.

double gazebo::physics::FrictionPyramid::PoissonsRatio

(

)

const

Get the Poisson's ratio.

Returns

Poisson's ratio

void gazebo::physics::FrictionPyramid::SetElasticModulus

(

const double

_modulus

)

Set the elastic modulus.

Parameters

[in]

_modulus

elastic modulus to set to

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.

void gazebo::physics::FrictionPyramid::SetMuTorsion

(

const double

_mu

)

Set the torsional friction coefficient.

Parameters

[in]

_mu

Torsional friction coefficient.

void gazebo::physics::FrictionPyramid::SetPatchRadius

(

const double

_radius

)

Set the torsional patch radius.

Parameters

[in]

_radius

Torsional patch radius.

void gazebo::physics::FrictionPyramid::SetPoissonsRatio

(

const double

_ratio

)

Set the Poisson's ratio.

Parameters

[in]

_ratio

Poisson's ratio

void gazebo::physics::FrictionPyramid::SetSurfaceRadius

(

const double

_radius

)

Set the torsional surface radius.

Parameters

[in]

_radius

Torsional surface radius.

void gazebo::physics::FrictionPyramid::SetUsePatchRadius

(

const bool

_use

)

Set whether to use the surface radius.

Parameters

[in]

_use

True to use the surface radius.

double gazebo::physics::FrictionPyramid::SurfaceRadius

(

)

const

Get the torsional surface radius.

Returns

Torsional surface radius.

bool gazebo::physics::FrictionPyramid::UsePatchRadius

(

)

const

Get the torsional "use patch radius" flag.

Returns

Torsional "use patch radius" flag.

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

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

• SurfaceParams.hh