20 #ifndef _PLANAR_COULOMB_FRICTION_H_
21 #define _PLANAR_COULOMB_FRICTION_H_
23 #include <mbsim/constitutive_laws/friction_force_law.h>
50 virtual int getFrictionDirections() {
return 1; }
51 virtual bool isSticking(
const fmatvec::Vec& s,
double sTol) {
return fabs(s(0)) <= sTol; }
52 virtual double getFrictionCoefficient(
double gd) {
return mu; }
53 virtual bool isSetValued()
const {
return true; }
54 virtual void initializeUsingXML(xercesc::DOMElement *element);
55 virtual std::string
getType()
const {
return "PlanarCoulombFriction"; }
58 void setFrictionCoefficient(
double mu_) { mu = mu_; }
basic planar friction force law on acceleration level for constraint description
Definition: planar_coulomb_friction.h:32
virtual ~PlanarCoulombFriction()
destructor
Definition: planar_coulomb_friction.h:42
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:32
virtual std::string getType() const
Definition: planar_coulomb_friction.h:55
PlanarCoulombFriction(double mu_=0)
constructor
Definition: planar_coulomb_friction.h:37