20 #ifndef _SPATIAL_COULOMB_FRICTION_H_
21 #define _SPATIAL_COULOMB_FRICTION_H_
23 #include <mbsim/constitutive_laws/friction_force_law.h>
50 virtual int getFrictionDirections() {
return 2; }
51 virtual bool isSticking(
const fmatvec::Vec& s,
double sTol) {
return nrm2(s(0,1)) <= 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 "SpatialCoulombFriction"; }
58 void setFrictionCoefficient(
double mu_) { mu = mu_; }
virtual std::string getType() const
Definition: spatial_coulomb_friction.h:55
SpatialCoulombFriction(double mu_=0)
constructor
Definition: spatial_coulomb_friction.h:37
virtual ~SpatialCoulombFriction()
destructor
Definition: spatial_coulomb_friction.h:42
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:32
basic spatial friction force law on acceleration level for constraint description ...
Definition: spatial_coulomb_friction.h:32