Simbody  3.7
Public Member Functions | List of all members
SimTK::StateLimitedFriction Class Referenceabstract

TODO: not implemented yet. More...

Public Member Functions

 StateLimitedFriction ()
 
virtual ~StateLimitedFriction ()
 
virtual bool disable (State &state) const =0
 Disable the friction constraints if they were enabled. More...
 
virtual bool enable (State &state) const =0
 Enable the friction constraints if they were disabled. More...
 
virtual Real getNormalForceMagnitude (const State &state) const =0
 Return the current value of the state-dependent normal force magnitude that limits this friction element. More...
 
virtual Real calcEffectiveCOF (const State &state, Real defaultTransitionSpeed, Real slipSpeed) const =0
 
virtual Real getSlipSpeed (const State &state) const =0
 
virtual Vec3 getPositionInfo (const State &state) const
 TODO: kludge needed because we're misusing existing constraints. More...
 
virtual void setInstanceParameter (State &state, const Vec3 &pos) const
 TODO: kludge to set instance parameters on internal constraints; this should be the same Vec3 you got from getPositionInfo(). More...
 
void setMyIndex (StateLimitedFrictionIndex fx)
 
StateLimitedFrictionIndex getMyIndex () const
 

Detailed Description

TODO: not implemented yet.

Constructor & Destructor Documentation

◆ StateLimitedFriction()

SimTK::StateLimitedFriction::StateLimitedFriction ( )
inline

◆ ~StateLimitedFriction()

virtual SimTK::StateLimitedFriction::~StateLimitedFriction ( )
inlinevirtual

Member Function Documentation

◆ disable()

virtual bool SimTK::StateLimitedFriction::disable ( State &  state) const
pure virtual

Disable the friction constraints if they were enabled.

Return true if we actually had to disable something.

◆ enable()

virtual bool SimTK::StateLimitedFriction::enable ( State &  state) const
pure virtual

Enable the friction constraints if they were disabled.

Return true if we actually had to enable something.

◆ getNormalForceMagnitude()

virtual Real SimTK::StateLimitedFriction::getNormalForceMagnitude ( const State &  state) const
pure virtual

Return the current value of the state-dependent normal force magnitude that limits this friction element.

◆ calcEffectiveCOF()

virtual Real SimTK::StateLimitedFriction::calcEffectiveCOF ( const State &  state,
Real  defaultTransitionSpeed,
Real  slipSpeed 
) const
pure virtual

◆ getSlipSpeed()

virtual Real SimTK::StateLimitedFriction::getSlipSpeed ( const State &  state) const
pure virtual

◆ getPositionInfo()

virtual Vec3 SimTK::StateLimitedFriction::getPositionInfo ( const State &  state) const
inlinevirtual

TODO: kludge needed because we're misusing existing constraints.

This must be called while Stage::Position is valid.

◆ setInstanceParameter()

virtual void SimTK::StateLimitedFriction::setInstanceParameter ( State &  state,
const Vec3 &  pos 
) const
inlinevirtual

TODO: kludge to set instance parameters on internal constraints; this should be the same Vec3 you got from getPositionInfo().

◆ setMyIndex()

void SimTK::StateLimitedFriction::setMyIndex ( StateLimitedFrictionIndex  fx)
inline

◆ getMyIndex()

StateLimitedFrictionIndex SimTK::StateLimitedFriction::getMyIndex ( ) const
inline
The documentation for this class was generated from the following file: