Public Member Functions | Protected Member Functions | Protected Attributes
SDContactPair Class Reference

#include <sdcontact.h>

List of all members.

Public Member Functions

void AddPoint (double *coord, double *normal, double depth)
void Clear ()
const fVec3Coord (int index)
double Depth (int index)
JointGetJoint (int index)
const fVec3Normal (int index)
int NumPoints ()
 SDContactPair (Joint *_jnt1, Joint *_jnt2, double _spring=1e5, double _damper=10.0, double _static_fric=0.0, double _slip_fric=0.0, double _slip_p=2000.0, double _slip_d=700.0, double _slip_func_coef_base=0.1)
void SetDamper (double _damper)
void SetSlipFric (double _slip_fric)
void SetSpring (double _spring)
void SetStaticFric (double _static_fric)
double SlipFric ()
double StaticFric ()
int Update (double timestep, int n_contact, double **coords, double **normals, double *depths)
 ~SDContactPair ()

Protected Member Functions

int set_init ()
int update (double timestep, int n_contact, double *coord, double *normal, double depth)

Protected Attributes

std::vector< fVec3coords
double damper
std::vector< double > depths
int in_slip
fMat33 init_att
fVec3 init_pos
int init_set
Jointjoints [2]
std::vector< fVec3normals
double slip_d
double slip_fric
double slip_func_coef_base
double slip_p
double spring
double static_fric

Detailed Description

Definition at line 23 of file sdcontact.h.


Constructor & Destructor Documentation

SDContactPair::SDContactPair ( Joint _jnt1,
Joint _jnt2,
double  _spring = 1e5,
double  _damper = 10.0,
double  _static_fric = 0.0,
double  _slip_fric = 0.0,
double  _slip_p = 2000.0,
double  _slip_d = 700.0,
double  _slip_func_coef_base = 0.1 
) [inline]

Definition at line 26 of file sdcontact.h.

Definition at line 42 of file sdcontact.h.


Member Function Documentation

void SDContactPair::AddPoint ( double *  coord,
double *  normal,
double  depth 
) [inline]

Definition at line 74 of file sdcontact.h.

void SDContactPair::Clear ( ) [inline]

Definition at line 68 of file sdcontact.h.

const fVec3& SDContactPair::Coord ( int  index) [inline]

Definition at line 83 of file sdcontact.h.

double SDContactPair::Depth ( int  index) [inline]

Definition at line 89 of file sdcontact.h.

Joint* SDContactPair::GetJoint ( int  index) [inline]

Definition at line 64 of file sdcontact.h.

const fVec3& SDContactPair::Normal ( int  index) [inline]

Definition at line 86 of file sdcontact.h.

Definition at line 80 of file sdcontact.h.

int SDContactPair::set_init ( ) [protected]

Definition at line 42 of file sdcontact.cpp.

void SDContactPair::SetDamper ( double  _damper) [inline]

Definition at line 48 of file sdcontact.h.

void SDContactPair::SetSlipFric ( double  _slip_fric) [inline]

Definition at line 54 of file sdcontact.h.

void SDContactPair::SetSpring ( double  _spring) [inline]

Definition at line 45 of file sdcontact.h.

void SDContactPair::SetStaticFric ( double  _static_fric) [inline]

Definition at line 51 of file sdcontact.h.

double SDContactPair::SlipFric ( ) [inline]

Definition at line 60 of file sdcontact.h.

double SDContactPair::StaticFric ( ) [inline]

Definition at line 57 of file sdcontact.h.

int SDContactPair::Update ( double  timestep,
int  n_contact,
double **  coords,
double **  normals,
double *  depths 
)

Definition at line 22 of file sdcontact.cpp.

int SDContactPair::update ( double  timestep,
int  n_contact,
double *  coord,
double *  normal,
double  depth 
) [protected]

Definition at line 62 of file sdcontact.cpp.


Member Data Documentation

std::vector<fVec3> SDContactPair::coords [protected]

Definition at line 103 of file sdcontact.h.

double SDContactPair::damper [protected]

Definition at line 109 of file sdcontact.h.

std::vector<double> SDContactPair::depths [protected]

Definition at line 105 of file sdcontact.h.

Definition at line 121 of file sdcontact.h.

Definition at line 119 of file sdcontact.h.

Definition at line 118 of file sdcontact.h.

Definition at line 117 of file sdcontact.h.

Joint* SDContactPair::joints[2] [protected]

Definition at line 101 of file sdcontact.h.

std::vector<fVec3> SDContactPair::normals [protected]

Definition at line 104 of file sdcontact.h.

double SDContactPair::slip_d [protected]

Definition at line 114 of file sdcontact.h.

double SDContactPair::slip_fric [protected]

Definition at line 112 of file sdcontact.h.

Definition at line 115 of file sdcontact.h.

double SDContactPair::slip_p [protected]

Definition at line 113 of file sdcontact.h.

double SDContactPair::spring [protected]

Definition at line 108 of file sdcontact.h.

double SDContactPair::static_fric [protected]

Definition at line 111 of file sdcontact.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:21