DoorHingeConfig Struct Reference

Detailed Description

Configuration structure for the DoorHinge.

#include <drake/multibody/tree/door_hinge.h>

Public Member Functions
template<typename Archive >
void	Serialize (Archive *a)
	Passes this object to an Archive. More...
	DoorHingeConfig ()
	Initialize to empirically reasonable values measured approximately by banging on the door of a dishwasher with a force gauge. More...

Public Attributes
double	spring_zero_angle_rad {}
	qs₀ measured outward from the closed position [radian]. More...
double	spring_constant {}
	k_ts torsional spring constant measured toward the spring zero angle [Nm/rad]. More...
double	dynamic_friction_torque {}
	k_df maximum dynamic friction torque measured opposite direction of motion [Nm]. More...
double	static_friction_torque {}
	k_sf maximum static friction measured opposite direction of motion [Nm]. More...
double	viscous_friction {}
	k_vf viscous friction measured opposite direction of motion [Nm]. More...
double	catch_width {}
	qc₀ measured from closed (q=0) position [radian]. More...
double	catch_torque {}
	k_c maximum catch torque applied over catch_width [Nm]. More...
double	motion_threshold {}
	k_q̇₀ motion threshold to start to apply friction torques [rad/s]. More...

Constructor & Destructor Documentation

DoorHingeConfig()

DoorHingeConfig

(

)

Initialize to empirically reasonable values measured approximately by banging on the door of a dishwasher with a force gauge.

Member Function Documentation

Serialize()

void Serialize

(

Archive *

a

)

Passes this object to an Archive.

Refer to YAML Serialization for background.

Member Data Documentation

catch_torque

double catch_torque {}

k_c maximum catch torque applied over catch_width [Nm].

It should be non-negative.

catch_width

double catch_width {}

qc₀ measured from closed (q=0) position [radian].

It should be non-negative.

dynamic_friction_torque

double dynamic_friction_torque {}

k_df maximum dynamic friction torque measured opposite direction of motion [Nm].

It should be non-negative.

motion_threshold

double motion_threshold {}

k_q̇₀ motion threshold to start to apply friction torques [rad/s].

It should be non-negative. Realistic frictional force is very stiff, reversing entirely over zero change in position or velocity, which kills integrators. We approximate it with a continuous function. This constant [rad/s] is the scaling factor on that function – very approximately the rad/s at which half of the full frictional force is applied. This number is nonphysical; make it small but not so small that the simulation vibrates or explodes.

spring_constant

double spring_constant {}

k_ts torsional spring constant measured toward the spring zero angle [Nm/rad].

It should be non-negative.

spring_zero_angle_rad

double spring_zero_angle_rad {}

qs₀ measured outward from the closed position [radian].

static_friction_torque

double static_friction_torque {}

k_sf maximum static friction measured opposite direction of motion [Nm].

It should be non-negative.

viscous_friction

double viscous_friction {}

k_vf viscous friction measured opposite direction of motion [Nm].

It should be non-negative.

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

• drake/multibody/tree/door_hinge.h