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]

_sdf

The 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]

_fricton

Torsional friction coefficient

SetODESlip()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetODESlip

(

double

_slip

)

Set the ODE force dependent slip for torsional friction.

Parameters

[in]

_slip

Force dependent slip for torsional friction.

SetPatchRadius()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetPatchRadius

(

double

_radius

)

Set the radius of contact patch surface.

Parameters

[in]

_radius

Patch radius

SetSurfaceRadius()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetSurfaceRadius

(

double

_radius

)

Set the surface radius on the contact point.

Parameters

[in]

_radius

Surface radius

SetUsePatchRadius()

void sdf::SDF_VERSION_NAMESPACE::Torsional::SetUsePatchRadius

(

bool

_usePatchRadius

)

Set whether to use patch radius for torsional friction calculation.

Parameters

[in]

_usePatchRadius

True 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.

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

• Surface.hh