Drake
CompliantContactModelParameters Struct Reference

The set of parameters for the compliant contact model. More...

#include <drake/attic/multibody/rigid_body_plant/compliant_contact_model.h>

Public Attributes

double v_stiction_tolerance {kDefaultVStictionTolerance}
 
double characteristic_radius {kDefaultCharacteristicRadius}
 

Static Public Attributes

static const double kDefaultVStictionTolerance {1e-2}
 Stiction (in m/s). More...
 
static const double kDefaultCharacteristicRadius {2e-4}
 Characteristic radius (in m). More...
 

Detailed Description

The set of parameters for the compliant contact model.

These values affect all contacts in the simulation session. In some sense, they are related to the scale of the simulation. The values must all be strictly positive. See drake_contacts for details.

Member Data Documentation

◆ characteristic_radius

double characteristic_radius {kDefaultCharacteristicRadius}

◆ kDefaultCharacteristicRadius

const double kDefaultCharacteristicRadius {2e-4}
static

Characteristic radius (in m).

◆ kDefaultVStictionTolerance

const double kDefaultVStictionTolerance {1e-2}
static

Stiction (in m/s).

◆ v_stiction_tolerance

double v_stiction_tolerance {kDefaultVStictionTolerance}

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