Drake
implicit_stribeck_solver_test.cc File Reference
Include dependency graph for implicit_stribeck_solver_test.cc:

Namespaces

 drake
 
 drake::multibody
 
 drake::multibody::implicit_stribeck
 

Variable Documentation

const double cos_min = std::cos(theta_max)
protected
MatrixX<double> D_ {2 * nc_, nv_}
protected
VectorX<double> fn_ {nc_}
protected
const double g_ {10.0}
protected
const double I_ {R_ * R_ * m_}
protected
MatrixX<double> Jt_ {2 * nc_, nv_}
protected
const double kTolerance = 10 * std::numeric_limits<double>::epsilon()
protected
const double m_ {1.0}
protected
MatrixX<double> M_ {nv_, nv_}
protected
const double mu_ {0.1}
protected
VectorX<double> mu_vector_ {nc_}
protected
const int nc_ {3}
protected
const int nv_ {3}
protected
VectorX<double> p_star_ {nv_}
protected
const double R_ {1.0}
protected
ImplicitStribeckSolver<double> solver_ {nv_}
protected
const double theta_max = M_PI / 6.0
protected
const double tolerance = 0.01
protected
const double v_stiction = 1.0e-4
protected