ForceColl::FrictionPyramid Class Reference

Friction pyramid. More...

#include <Contact.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FrictionPyramid (double fricCoeff, int ridgeNum=4)
	Constructor. More...
std::vector< Eigen::Vector3d >	calcGlobalRidgeList (const Eigen::Matrix3d &rot) const
	Calculate ridge vector list in global coordinates. More...
int	ridgeNum () const
	Number of ridges. More...

Public Attributes
std::vector< Eigen::Vector3d >	localRidgeList_
	Local ridge list. More...

Detailed Description

Friction pyramid.

Definition at line 14 of file Contact.h.

Constructor & Destructor Documentation

FrictionPyramid()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForceColl::FrictionPyramid::FrictionPyramid	(	double	fricCoeff,
		int	ridgeNum = 4
	)

Constructor.

Parameters

fricCoeff	friction coefficient
ridgeNum	number of ridges of friction pyramid

Member Function Documentation

calcGlobalRidgeList()

std::vector<Eigen::Vector3d> ForceColl::FrictionPyramid::calcGlobalRidgeList

(

const Eigen::Matrix3d &

rot

)

const

Calculate ridge vector list in global coordinates.

ridgeNum()

int ForceColl::FrictionPyramid::ridgeNum ( ) const

inline

Number of ridges.

Definition at line 29 of file Contact.h.

Member Data Documentation

localRidgeList_

std::vector<Eigen::Vector3d> ForceColl::FrictionPyramid::localRidgeList_

Local ridge list.

Definition at line 36 of file Contact.h.

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

• /home/runner/work/ForceControlCollection/ForceControlCollection/catkin_ws/src/ForceControlCollection/include/ForceColl/Contact.h