Drake
drake::multibody::implicit_stribeck::test Namespace Reference

Functions

template<typename U >
VectorX< U > CalcNormalForces (const VectorX< U > &x, const VectorX< double > &stiffness, const VectorX< double > &dissipation, double dt, const VectorX< U > &vn)
 
template<typename U >
VectorX< U > CalcFrictionForces (double v_stiction, double epsilon_v, const VectorX< double > mu, const VectorX< U > &vt, const VectorX< U > &fn)
 
template<typename U >
VectorX< U > CalcResidual (const MatrixX< double > &M, const MatrixX< double > &Jn, const MatrixX< double > &Jt, const VectorX< double > &p_star, const VectorX< double > &x0, const VectorX< double > &mu, const VectorX< double > &fn_data, const VectorX< double > &stiffness, const VectorX< double > &dissipation, double dt, double v_stiction, double epsilon_v, bool two_way_coupling, const VectorX< U > &v)
 
MatrixX< doubleCalcTwoWayCoupledJacobianWithAutoDiff (const MatrixX< double > &M, const MatrixX< double > &Jn, const MatrixX< double > &Jt, const VectorX< double > &p_star, const VectorX< double > &x0, const VectorX< double > &mu, const VectorX< double > &stiffness, const VectorX< double > &dissipation, double dt, double v_stiction, double epsilon_v, const VectorX< double > &v)
 
MatrixX< doubleCalcOneWayCoupledJacobianWithAutoDiff (const MatrixX< double > &M, const MatrixX< double > &Jn, const MatrixX< double > &Jt, const VectorX< double > &p_star, const VectorX< double > &mu, const VectorX< double > &fn, double dt, double v_stiction, double epsilon_v, const VectorX< double > &v)
 

Function Documentation

◆ CalcFrictionForces()

VectorX<U> drake::multibody::implicit_stribeck::test::CalcFrictionForces ( double  v_stiction,
double  epsilon_v,
const VectorX< double mu,
const VectorX< U > &  vt,
const VectorX< U > &  fn 
)

◆ CalcNormalForces()

VectorX<U> drake::multibody::implicit_stribeck::test::CalcNormalForces ( const VectorX< U > &  x,
const VectorX< double > &  stiffness,
const VectorX< double > &  dissipation,
double  dt,
const VectorX< U > &  vn 
)

◆ CalcOneWayCoupledJacobianWithAutoDiff()

MatrixX<double> drake::multibody::implicit_stribeck::test::CalcOneWayCoupledJacobianWithAutoDiff ( const MatrixX< double > &  M,
const MatrixX< double > &  Jn,
const MatrixX< double > &  Jt,
const VectorX< double > &  p_star,
const VectorX< double > &  mu,
const VectorX< double > &  fn,
double  dt,
double  v_stiction,
double  epsilon_v,
const VectorX< double > &  v 
)

◆ CalcResidual()

VectorX<U> drake::multibody::implicit_stribeck::test::CalcResidual ( const MatrixX< double > &  M,
const MatrixX< double > &  Jn,
const MatrixX< double > &  Jt,
const VectorX< double > &  p_star,
const VectorX< double > &  x0,
const VectorX< double > &  mu,
const VectorX< double > &  fn_data,
const VectorX< double > &  stiffness,
const VectorX< double > &  dissipation,
double  dt,
double  v_stiction,
double  epsilon_v,
bool  two_way_coupling,
const VectorX< U > &  v 
)

◆ CalcTwoWayCoupledJacobianWithAutoDiff()

MatrixX<double> drake::multibody::implicit_stribeck::test::CalcTwoWayCoupledJacobianWithAutoDiff ( const MatrixX< double > &  M,
const MatrixX< double > &  Jn,
const MatrixX< double > &  Jt,
const VectorX< double > &  p_star,
const VectorX< double > &  x0,
const VectorX< double > &  mu,
const VectorX< double > &  stiffness,
const VectorX< double > &  dissipation,
double  dt,
double  v_stiction,
double  epsilon_v,
const VectorX< double > &  v 
)