Simbody  3.5
SimTK::StateLimitedFriction Class Reference

TODO: not implemented yet. More...

List of all members.

Public Member Functions

 StateLimitedFriction ()
virtual ~StateLimitedFriction ()
virtual bool disable (State &state) const =0
 Disable the friction constraints if they were enabled.
virtual bool enable (State &state) const =0
 Enable the friction constraints if they were disabled.
virtual Real getNormalForceMagnitude (const State &state) const =0
 Return the current value of the state-dependent normal force magnitude that limits this friction element.
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.
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().
void setMyIndex (StateLimitedFrictionIndex fx)
StateLimitedFrictionIndex getMyIndex () const

Detailed Description

TODO: not implemented yet.


Constructor & Destructor Documentation


Member Function Documentation

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.

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.

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.

virtual Real SimTK::StateLimitedFriction::calcEffectiveCOF ( const State state,
Real  defaultTransitionSpeed,
Real  slipSpeed 
) const [pure virtual]
virtual Real SimTK::StateLimitedFriction::getSlipSpeed ( const State state) const [pure virtual]
virtual Vec3 SimTK::StateLimitedFriction::getPositionInfo ( const State state) const [inline, virtual]

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

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

virtual void SimTK::StateLimitedFriction::setInstanceParameter ( State state,
const Vec3 pos 
) const [inline, virtual]

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

void SimTK::StateLimitedFriction::setMyIndex ( StateLimitedFrictionIndex  fx) [inline]
StateLimitedFrictionIndex SimTK::StateLimitedFriction::getMyIndex ( ) const [inline]

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