##

FrictionPyramid Class Reference
Physics

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 | 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

ignition::math::Vector3d | 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

## FrictionPyramid()

FrictionPyramid | ( |  | ) |

Constructor.

## ~FrictionPyramid()

virtual ~FrictionPyramid | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## ElasticModulus()

double ElasticModulus | ( |  | ) | const

Get the elastic modulus.

Returns
  elastic modulus

## MuPrimary()

double MuPrimary | ( |  | ) | const

Get the friction coefficient in the primary direction.

Returns
  Friction coefficient in primary direction.

## MuSecondary()

double MuSecondary | ( |  | ) | const

Get the friction coefficient in the secondary direction.

Returns
  Friction coefficient in secondary direction.

## MuTorsion()

double MuTorsion | ( |  | ) | const

Get the torsional friction coefficient.

Returns
  Torsional friction coefficient.

## PatchRadius()

double PatchRadius | ( |  | ) | const

Get the torsional patch radius.

Returns
  Torsional patch radius.

## PoissonsRatio()

double PoissonsRatio | ( |  | ) | const

Get the Poisson's ratio.

Returns
  Poisson's ratio

## SetElasticModulus()

void SetElasticModulus | ( | const double | _modulus | ) |

Set the elastic modulus.

Parameters

  [in] | _modulus | elastic modulus to set to

## SetMuPrimary()

void SetMuPrimary | ( | double | _mu | ) |

Set the friction coefficient in the primary direction.

Parameters

  [in] | _mu | Friction coefficient.

## SetMuSecondary()

void SetMuSecondary | ( | double | _mu | ) |

Set the friction coefficient in the secondary direction.

Parameters

  [in] | _mu | Friction coefficient.

## SetMuTorsion()

void SetMuTorsion | ( | const double | _mu | ) |

Set the torsional friction coefficient.

Parameters

  [in] | _mu | Torsional friction coefficient.

## SetPatchRadius()

void SetPatchRadius | ( | const double | _radius | ) |

Set the torsional patch radius.

Parameters

  [in] | _radius | Torsional patch radius.

## SetPoissonsRatio()

void SetPoissonsRatio | ( | const double | _ratio | ) |

Set the Poisson's ratio.

Parameters

  [in] | _ratio | Poisson's ratio

## SetSurfaceRadius()

void SetSurfaceRadius | ( | const double | _radius | ) |

Set the torsional surface radius.

Parameters

  [in] | _radius | Torsional surface radius.

## SetUsePatchRadius()

void SetUsePatchRadius | ( | const bool | _use | ) |

Set whether to use the surface radius.

Parameters

  [in] | _use | True to use the surface radius.

## SurfaceRadius()

double SurfaceRadius | ( |  | ) | const

Get the torsional surface radius.

Returns
  Torsional surface radius.

## UsePatchRadius()

bool UsePatchRadius | ( |  | ) | const

Get the torsional "use patch radius" flag.

Returns
  Torsional "use patch radius" flag.

## Member Data Documentation

## direction1

ignition::math::Vector3d 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 constrained 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