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class JointFrictionR : public NewtonEulerR
- #include <>
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
virtual void computeJachq(double time, Interaction &inter, SP::BlockVector q0)¶
virtual unsigned int numberOfConstraints()¶
inline unsigned int axis(unsigned int _index)
Return the joint axis number assigned to a friction axis.
inline SP::NewtonEulerJointR joint()
Return the joint assigned to this friction relation.
inline unsigned int numberOfAxes()
Return the number of joint axes indexed by this relation.
inline virtual ~JointFrictionR()¶
- JointFrictionR(SP::NewtonEulerJointR joint, unsigned int axis)