dart::constraint::ContactSurfaceParams Struct Reference

Computed parameters of the contact surface. More...

#include <ContactSurface.hpp>

Public Attributes
double	mPrimaryFrictionCoeff {DART_DEFAULT_FRICTION_COEFF}
	Primary Coefficient of Friction.
double	mSecondaryFrictionCoeff {DART_DEFAULT_FRICTION_COEFF}
	Secondary Coefficient of Friction.
double	mRestitutionCoeff {DART_DEFAULT_RESTITUTION_COEFF}
	Coefficient of restitution.
double	mPrimarySlipCompliance {DART_DEFAULT_SLIP_COMPLIANCE}
	Primary Coefficient of Slip Compliance.
double	mSecondarySlipCompliance {DART_DEFAULT_SLIP_COMPLIANCE}
	Secondary Coefficient of Slip Compliance.
Eigen::Vector3d	mFirstFrictionalDirection {DART_DEFAULT_FRICTION_DIR}
	First frictional direction (in world frame)
Eigen::Vector3d	mContactSurfaceMotionVelocity
	Velocity of the contact independent of friction x = vel.

Private Attributes
void *	mExtraData {nullptr}
	Used for future-compatibility.

Detailed Description

Computed parameters of the contact surface.

Member Data Documentation

mContactSurfaceMotionVelocity

Eigen::Vector3d dart::constraint::ContactSurfaceParams::mContactSurfaceMotionVelocity

Initial value:

{
      DART_DEFAULT_CONTACT_SURFACE_MOTION_VELOCITY}

Velocity of the contact independent of friction x = vel.

in direction of contact normal y = vel. in first friction direction z = vel. in second friction direction

mExtraData

void* dart::constraint::ContactSurfaceParams::mExtraData {nullptr}

private

Used for future-compatibility.

Add any newly added fields here so that ABI doesn't change. The data should be accessed via non-virtual getters and setters added to this struct. When this field starts to be used, custom destructor, copy/move constructors and copy/move assignment operators have to be defined that will take care of copying/destroying the extra data.

mFirstFrictionalDirection

Eigen::Vector3d dart::constraint::ContactSurfaceParams::mFirstFrictionalDirection {DART_DEFAULT_FRICTION_DIR}

First frictional direction (in world frame)

mPrimaryFrictionCoeff

double dart::constraint::ContactSurfaceParams::mPrimaryFrictionCoeff {DART_DEFAULT_FRICTION_COEFF}

Primary Coefficient of Friction.

mPrimarySlipCompliance

double dart::constraint::ContactSurfaceParams::mPrimarySlipCompliance {DART_DEFAULT_SLIP_COMPLIANCE}

Primary Coefficient of Slip Compliance.

mRestitutionCoeff

double dart::constraint::ContactSurfaceParams::mRestitutionCoeff {DART_DEFAULT_RESTITUTION_COEFF}

Coefficient of restitution.

mSecondaryFrictionCoeff

double dart::constraint::ContactSurfaceParams::mSecondaryFrictionCoeff {DART_DEFAULT_FRICTION_COEFF}

Secondary Coefficient of Friction.

mSecondarySlipCompliance

double dart::constraint::ContactSurfaceParams::mSecondarySlipCompliance {DART_DEFAULT_SLIP_COMPLIANCE}

Secondary Coefficient of Slip Compliance.