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FrictionCone Class Reference

The nonlinear friction cone defined by unit cone axis cone_axis and friction coefficient mu_face. More...

Inheritance diagram for FrictionCone:
Collaboration diagram for FrictionCone:

Public Member Functions

function FrictionCone (contact_pos, cone_axis, mu_face)
 
function plot (obj, use_lcmgl, cone_length, cone_name)
 

Protected Attributes

Property contact_pos
 
Property cone_axis
 
Property mu_face
 

Detailed Description

The nonlinear friction cone defined by unit cone axis cone_axis and friction coefficient mu_face.

Constructor & Destructor Documentation

function FrictionCone ( contact_pos  ,
cone_axis  ,
mu_face   
)
Return values
obj

Member Function Documentation

function plot ( obj  ,
use_lcmgl  ,
cone_length  ,
cone_name   
)
Parameters
use_lcmglA boolean, true if visualize in lcmgl, false if visualize in MATLAB viewer
cone_lengthA scalar. The length of the cone axis being visualized
cone_nameA string. The name of the cone, this is only used if use_lcmgl = true
Return values
h

Member Data Documentation

Property cone_axis
protected
Property contact_pos
protected
Property mu_face
protected

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