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gazebo::physics::FrictionPyramid Class Reference

Parameters used for friction pyramid model. More...

#include <physics/physics.hh>

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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]_muFriction coefficient.
void gazebo::physics::FrictionPyramid::SetMuSecondary ( double  _mu)

Set the friction coefficient in the secondary direction.

Parameters
[in]_muFriction 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: