Defined in Program listing for file mechanics/src/joints/JointFrictionR.hpp
class JointFrictionR : public NewtonEulerR¶
This class implements a friction on a DoF for any NewtonEulerJointR.
JointFrictionR(SP::NewtonEulerJointR joint, unsigned int axis)¶
Initialize a joint friction for a common case: a single axis with a single friction, either positive or negative.
For use with NewtonImpactNSL.
JointFrictionR(SP::NewtonEulerJointR joint, SP::UnsignedIntVector axes = SP::UnsignedIntVector())¶
Initialize a multidimensional joint friction, e.g.
the cone friction on a ball joint. For use with NewtonImpactFrictionNSL size 2 or 3.
virtual void computeh(double time, const BlockVector &q0, SiconosVector &y)¶
to compute the output y = h(t,q,z) of the Relation
time – current time value
q – coordinates of the dynamical systems involved in the relation
y – the resulting vector
inline unsigned int axis(unsigned int _index)¶
Return the joint axis number assigned to a friction axis.
inline unsigned int numberOfAxes()¶
Return the number of joint axes indexed by this relation.
- JointFrictionR(SP::NewtonEulerJointR joint, unsigned int axis)¶