Drake
 All Classes Files Functions Variables
LinearizedFrictionCone Class Reference

The linearized friction cone defined by friction cone edges. More...

Inheritance diagram for LinearizedFrictionCone:
Collaboration diagram for LinearizedFrictionCone:

Public Member Functions

function LinearizedFrictionCone (contact_pos, cone_axis, mu_face, fc_edges)
 
function plot (obj, use_lcmgl, cone_length, cone_name)
 
- Public Member Functions inherited from FrictionCone
function FrictionCone (contact_pos, cone_axis, mu_face)
 
function plot (obj, use_lcmgl, cone_length, cone_name)
 

Protected Attributes

Property num_fc_edges
 
Property fc_edges
 
- Protected Attributes inherited from FrictionCone
Property contact_pos
 
Property cone_axis
 
Property mu_face
 

Detailed Description

The linearized friction cone defined by friction cone edges.

Constructor & Destructor Documentation

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 fc_edges
protected
Property num_fc_edges
protected

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