Parameters used for friction pyramid model.
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#include <physics/physics.hh>
Parameters used for friction pyramid model.
gazebo::physics::FrictionPyramid::FrictionPyramid |
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virtual gazebo::physics::FrictionPyramid::~FrictionPyramid |
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virtual |
double gazebo::physics::FrictionPyramid::ElasticModulus |
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const |
Get the elastic modulus.
- Returns
- elastic modulus
double gazebo::physics::FrictionPyramid::GetMuPrimary |
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Get the friction coefficient in the primary direction.
- Returns
- Friction coefficient in primary direction.
- Deprecated:
- See const function MuPrimary
double gazebo::physics::FrictionPyramid::GetMuSecondary |
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Get the friction coefficient in the secondary direction.
- Returns
- Friction coefficient in secondary direction.
- Deprecated:
- See const function MuSecondary
double gazebo::physics::FrictionPyramid::MuPrimary |
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const |
Get the friction coefficient in the primary direction.
- Returns
- Friction coefficient in primary direction.
double gazebo::physics::FrictionPyramid::MuSecondary |
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const |
Get the friction coefficient in the secondary direction.
- Returns
- Friction coefficient in secondary direction.
double gazebo::physics::FrictionPyramid::MuTorsion |
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const |
Get the torsional friction coefficient.
- Returns
- Torsional friction coefficient.
double gazebo::physics::FrictionPyramid::PatchRadius |
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const |
Get the torsional patch radius.
- Returns
- Torsional patch radius.
double gazebo::physics::FrictionPyramid::PoissonsRatio |
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const |
Get the Poisson's ratio.
- Returns
- Poisson's ratio
void gazebo::physics::FrictionPyramid::SetElasticModulus |
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const double |
_modulus | ) |
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Set the elastic modulus.
- Parameters
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[in] | _modulus | elastic modulus to set to |
void gazebo::physics::FrictionPyramid::SetMuPrimary |
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double |
_mu | ) |
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Set the friction coefficient in the primary direction.
- Parameters
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[in] | _mu | Friction coefficient. |
void gazebo::physics::FrictionPyramid::SetMuSecondary |
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double |
_mu | ) |
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Set the friction coefficient in the secondary direction.
- Parameters
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[in] | _mu | Friction coefficient. |
void gazebo::physics::FrictionPyramid::SetMuTorsion |
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const double |
_mu | ) |
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Set the torsional friction coefficient.
- Parameters
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[in] | _mu | Torsional friction coefficient. |
void gazebo::physics::FrictionPyramid::SetPatchRadius |
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const double |
_radius | ) |
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Set the torsional patch radius.
- Parameters
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[in] | _radius | Torsional patch radius. |
void gazebo::physics::FrictionPyramid::SetPoissonsRatio |
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const double |
_ratio | ) |
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Set the Poisson's ratio.
- Parameters
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[in] | _ratio | Poisson's ratio |
void gazebo::physics::FrictionPyramid::SetSurfaceRadius |
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const double |
_radius | ) |
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Set the torsional surface radius.
- Parameters
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[in] | _radius | Torsional surface radius. |
void gazebo::physics::FrictionPyramid::SetUsePatchRadius |
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const bool |
_use | ) |
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Set whether to use the surface radius.
- Parameters
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[in] | _use | True to use the surface radius. |
double gazebo::physics::FrictionPyramid::SurfaceRadius |
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const |
Get the torsional surface radius.
- Returns
- Torsional surface radius.
bool gazebo::physics::FrictionPyramid::UsePatchRadius |
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const |
Get the torsional "use patch radius" flag.
- Returns
- Torsional "use patch radius" flag.
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: