PointContact Class Reference

A Point Contact With Friction (PCWF) implementing a Coulomb friction model. More...

#include <contact.h>

Inheritance diagram for PointContact:

[legend]

List of all members.

Public Member Functions
SoSeparator *	getVisualIndicator ()
	Returns the visual indicator which is the wrench space cone itself.
	PointContact (Body *b1, Body *b2, position pos, vec3 norm)
	Also sets up friction edges according to Coulomb model.
int	setUpFrictionEdges (bool dynamicsOn=false)
	Defines a 2D friction circle with tangential friction only.
	~PointContact ()
	Stub destructor.

---

Detailed Description

A Point Contact With Friction (PCWF) implementing a Coulomb friction model.

The Point Contact simulates rigid bodies in contact. As such, its wrench space is a 3D cone and its friction space is a 2D circle with just tangential friction. Its visual indicator is the cone itself. The cone's angle is equal to the tangent of the friction coefficient.

Definition at line 352 of file contact.h.

---

Constructor & Destructor Documentation

PointContact::PointContact	(	Body *	b1,
		Body *	b2,
		position	pos,
		vec3	norm
	)

Also sets up friction edges according to Coulomb model.

Definition at line 516 of file contact.cpp.

PointContact::~PointContact

(

)

Stub destructor.

Definition at line 533 of file contact.cpp.

---

Member Function Documentation

SoSeparator * PointContact::getVisualIndicator

(

)

[virtual]

Returns the visual indicator which is the wrench space cone itself.

Return a visual indicator showing the contact cone

Reimplemented from Contact.

Definition at line 558 of file contact.cpp.

int PointContact::setUpFrictionEdges

(

bool

dynamicsOn = false

)

[virtual]

Defines a 2D friction circle with tangential friction only.

Set up friction as a linearized circle; a PCWF can only have friction forces (no torques) in the tangential plane of the contact. When normal force will be added later, the friction circle becomes the more familiar contact cone.

Implements Contact.

Definition at line 542 of file contact.cpp.

---

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/contact.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/contact.cpp