Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
SDContactPair Class Reference

#include <sdcontact.h>

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::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.

◆ ~SDContactPair()

SDContactPair::~SDContactPair ( )
inline

Definition at line 42 of file sdcontact.h.

Member Function Documentation

◆ AddPoint()

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

Definition at line 74 of file sdcontact.h.

◆ Clear()

void SDContactPair::Clear ( )
inline

Definition at line 68 of file sdcontact.h.

◆ Coord()

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

Definition at line 83 of file sdcontact.h.

◆ Depth()

double SDContactPair::Depth ( int  index)
inline

Definition at line 89 of file sdcontact.h.

◆ GetJoint()

Joint* SDContactPair::GetJoint ( int  index)
inline

Definition at line 64 of file sdcontact.h.

◆ Normal()

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

Definition at line 86 of file sdcontact.h.

◆ NumPoints()

int SDContactPair::NumPoints ( )
inline

Definition at line 80 of file sdcontact.h.

◆ set_init()

int SDContactPair::set_init ( )
protected

Definition at line 42 of file sdcontact.cpp.

◆ SetDamper()

void SDContactPair::SetDamper ( double  _damper)
inline

Definition at line 48 of file sdcontact.h.

◆ SetSlipFric()

void SDContactPair::SetSlipFric ( double  _slip_fric)
inline

Definition at line 54 of file sdcontact.h.

◆ SetSpring()

void SDContactPair::SetSpring ( double  _spring)
inline

Definition at line 45 of file sdcontact.h.

◆ SetStaticFric()

void SDContactPair::SetStaticFric ( double  _static_fric)
inline

Definition at line 51 of file sdcontact.h.

◆ SlipFric()

double SDContactPair::SlipFric ( )
inline

Definition at line 60 of file sdcontact.h.

◆ StaticFric()

double SDContactPair::StaticFric ( )
inline

Definition at line 57 of file sdcontact.h.

◆ Update()

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

Definition at line 22 of file sdcontact.cpp.

◆ update()

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

◆ coords

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

Definition at line 103 of file sdcontact.h.

◆ damper

double SDContactPair::damper
protected

Definition at line 109 of file sdcontact.h.

◆ depths

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

Definition at line 105 of file sdcontact.h.

◆ in_slip

int SDContactPair::in_slip
protected

Definition at line 121 of file sdcontact.h.

◆ init_att

fMat33 SDContactPair::init_att
protected

Definition at line 119 of file sdcontact.h.

◆ init_pos

fVec3 SDContactPair::init_pos
protected

Definition at line 118 of file sdcontact.h.

◆ init_set

int SDContactPair::init_set
protected

Definition at line 117 of file sdcontact.h.

◆ joints

Joint* SDContactPair::joints[2]
protected

Definition at line 101 of file sdcontact.h.

◆ normals

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

Definition at line 104 of file sdcontact.h.

◆ slip_d

double SDContactPair::slip_d
protected

Definition at line 114 of file sdcontact.h.

◆ slip_fric

double SDContactPair::slip_fric
protected

Definition at line 112 of file sdcontact.h.

◆ slip_func_coef_base

double SDContactPair::slip_func_coef_base
protected

Definition at line 115 of file sdcontact.h.

◆ slip_p

double SDContactPair::slip_p
protected

Definition at line 113 of file sdcontact.h.

◆ spring

double SDContactPair::spring
protected

Definition at line 108 of file sdcontact.h.

◆ static_fric

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 Sep 8 2022 02:24:07