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Class for Frictionless sliding constraint (stores two planes, the intersection of which, is the sliding direction) More...
#include <SurgSim/Physics/SlidingConstraintData.h>
Public Member Functions | |
SlidingConstraintData () | |
Default constructor. More... | |
SlidingConstraintData (const SurgSim::Math::Vector3d &point, const SurgSim::Math::Vector3d &direction) | |
Constructor. More... | |
virtual | ~SlidingConstraintData () |
Destructor. More... | |
void | setSlidingDirection (const SurgSim::Math::Vector3d &point, const SurgSim::Math::Vector3d &direction) |
Calculate the two plane equations based on the given sliding direction. More... | |
void | setFrictionCoefficient (double mu) |
Set the friction coefficient for a frictional sliding constraint. More... | |
double | getFrictionCoefficient () const |
const std::array< Math::Vector3d, 2 > & | getNormals () const |
const Math::RigidTransform3d | getPose () |
/return The pose of constraint More... | |
const Math::Vector3d & | getTangent () const |
const double | getDistanceTangent () const |
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ConstraintData () | |
Default Constructor. More... | |
virtual | ~ConstraintData () |
Destructor. More... | |
Private Attributes | |
std::array< Math::Vector3d, 2 > | m_normals |
The normals of the two planes. More... | |
Math::Vector3d | m_point |
The point of constraint. More... | |
Math::Vector3d | m_slidingDirection |
The sliding direction (intersection of the two planes). More... | |
Math::Vector3d | m_tangent |
The tangent of the two planes. More... | |
double | m_distanceTangent |
The distance from origin of the tangential plane. More... | |
double | m_mu |
Friction coefficient for frictional constraint (unused for frictionless constraint). More... | |
Class for Frictionless sliding constraint (stores two planes, the intersection of which, is the sliding direction)
SurgSim::Physics::SlidingConstraintData::SlidingConstraintData | ( | ) |
Default constructor.
SurgSim::Physics::SlidingConstraintData::SlidingConstraintData | ( | const SurgSim::Math::Vector3d & | point, |
const SurgSim::Math::Vector3d & | direction | ||
) |
Constructor.
point | The point through which the sliding direction vector passes. |
direction | The sliding direction vector. |
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virtual |
Destructor.
const double SurgSim::Physics::SlidingConstraintData::getDistanceTangent | ( | ) | const |
double SurgSim::Physics::SlidingConstraintData::getFrictionCoefficient | ( | ) | const |
const std::array< Math::Vector3d, 2 > & SurgSim::Physics::SlidingConstraintData::getNormals | ( | ) | const |
const Math::RigidTransform3d SurgSim::Physics::SlidingConstraintData::getPose | ( | ) |
/return The pose of constraint
const Math::Vector3d & SurgSim::Physics::SlidingConstraintData::getTangent | ( | ) | const |
void SurgSim::Physics::SlidingConstraintData::setFrictionCoefficient | ( | double | mu | ) |
Set the friction coefficient for a frictional sliding constraint.
mu | The friction coefficient |
void SurgSim::Physics::SlidingConstraintData::setSlidingDirection | ( | const SurgSim::Math::Vector3d & | point, |
const SurgSim::Math::Vector3d & | direction | ||
) |
Calculate the two plane equations based on the given sliding direction.
point | The point through which the sliding direction vector passes. |
direction | The sliding direction vector. |
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private |
The distance from origin of the tangential plane.
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private |
Friction coefficient for frictional constraint (unused for frictionless constraint).
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private |
The normals of the two planes.
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private |
The point of constraint.
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The sliding direction (intersection of the two planes).
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The tangent of the two planes.