Inheritance diagram for dart::dynamics::DynamicsAspect:
Collaboration diagram for dart::dynamics::DynamicsAspect:
Public Types | |
| using | Base = common::AspectWithVersionedProperties< DynamicsAspect, detail::DynamicsAspectProperties, ShapeFrame > |
 Public Types inherited from dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties > | |
| using | Base = BaseT |
| using | Derived = DerivedT |
| using | PropertiesData = PropertiesDataT |
| using | CompositeType = CompositeT |
| using | Properties = Aspect::MakeProperties< PropertiesData > |
| using | AspectImplementation = AspectWithVersionedProperties< Base, Derived, PropertiesData, CompositeT, updateProperties > |
Public Member Functions | |
| DynamicsAspect (const DynamicsAspect &)=delete | |
| DynamicsAspect (const PropertiesData &properties=PropertiesData()) | |
| void | setFrictionCoeff (const double &value) |
| Set both primary and secondary friction coefficients to the same value. | |
| double | getFrictionCoeff () const |
| Get average of primary and secondary friction coefficients. | |
| void | setPrimaryFrictionCoeff (const double &value) |
| const double & | getPrimaryFrictionCoeff () const |
| void | setFirstFrictionDirectionFrame (const Frame *value) |
| Slip compliance parameters act as constraint force mixing (cfm) for the friction constraints. More... | |
| const Frame * | getFirstFrictionDirectionFrame () const |
| Get the frame for the first friction direction vector. | |
| Public Member Functions inherited from dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties > | |
| AspectWithVersionedProperties (const AspectWithVersionedProperties &)=delete | |
| AspectWithVersionedProperties (const PropertiesData &properties=PropertiesData()) | |
| Construct using a PropertiesData instance. | |
| template<typename... BaseArgs> | |
| AspectWithVersionedProperties (const PropertiesData &properties, BaseArgs &&... args) | |
| Construct this Aspect and pass args into the constructor of the Base class. | |
| void | setAspectProperties (const Aspect::Properties &someProperties) override final |
| const Aspect::Properties * | getAspectProperties () const override final |
| void | setProperties (const PropertiesData &properties) |
| Set the Properties of this Aspect. | |
| const Properties & | getProperties () const |
| Get the Properties of this Aspect. | |
| std::unique_ptr< Aspect > | cloneAspect () const override |
| std::size_t | incrementVersion () |
| Increment the version of this Aspect and its Composite. | |
| void | notifyPropertiesUpdate () |
| Call UpdateProperties(this) and incrementVersion() | |
| void | notifyPropertiesUpdated () |
| Call UpdateProperties(this) and incrementVersion() | |
Additional Inherited Members | |
| Static Public Attributes inherited from dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties > | |
| static constexpr void(* | UpdateProperties )(Derived *) = updateProperties |
| Protected Attributes inherited from dart::common::detail::AspectWithVersionedProperties< BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties > | |
| Properties | mProperties |
| Properties of this Aspect. | |
Member Function Documentation
◆ setFirstFrictionDirectionFrame()
| void dart::dynamics::DynamicsAspect::setFirstFrictionDirectionFrame | ( | const Frame * | value | ) |
Slip compliance parameters act as constraint force mixing (cfm) for the friction constraints.
They start with a default value of -1.0 and will be ignored in favor of the global default value unless explicitly set to a positive value. Set the frame for interpreting the first friction direction vector. The frame pointer defaults to nullptr, which is interpreted as this ShapeFrame.
The documentation for this class was generated from the following files:
- dart/dynamics/ShapeFrame.hpp
- dart/dynamics/ShapeFrame.cpp
