Drake

Classes  
class  CoulombFriction 
Parameters for Coulomb's Law of Friction, namely: More...  
class  MultibodyPlant 
MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a physical system consisting of a collection of interconnected bodies. More...  
Functions  
template<typename T >  
CoulombFriction< T >  CalcContactFrictionFromSurfaceProperties (const CoulombFriction< T > &surface_properties1, const CoulombFriction< T > &surface_properties2) 
Given the surface properties of two different surfaces, this method computes the Coulomb's law coefficients of friction characterizing the interaction by friction of the given surface pair. More...  
CoulombFriction<T> drake::multibody::multibody_plant::CalcContactFrictionFromSurfaceProperties  (  const CoulombFriction< T > &  surface_properties1, 
const CoulombFriction< T > &  surface_properties2  
) 
Given the surface properties of two different surfaces, this method computes the Coulomb's law coefficients of friction characterizing the interaction by friction of the given surface pair.
The surface properties are specified by individual Coulomb's law coefficients of friction. As outlined in the class's documentation for CoulombFriction, friction coefficients characterize a surface pair and not individual surfaces. However, we find it useful in practice to associate the abstract idea of friction coefficients to a single surface. Please refer to the documentation for CoulombFriction for details on this topic.
More specifically, this method computes the contact coefficients for the given surface pair as:
μ = 2μₘμₙ/(μₘ + μₙ)
where the operation above is performed separately on the static and dynamic friction coefficients.
[in]  surface_properties1  Surface properties for surface 1. Specified as an individual set of Coulomb's law coefficients of friction. 
[in]  surface_properties2  Surface properties for surface 2. Specified as an individual set of Coulomb's law coefficients of friction. 