76 double friction_coeff_ = 1;
78 Eigen::Matrix3d R_cone_;
79 double angle_offset_ = 0;
80 int number_of_faces_ = 4;
81 Eigen::Vector3d v1_, v2_, n_;
void setConeOrientation(const Eigen::Matrix3d &R)
Definition: LinearizedCoulombConstraint.cc:39
double getMargin() const
Definition: LinearizedCoulombConstraint.cc:19
const Eigen::Matrix3d & getConeOrientation() const
Definition: LinearizedCoulombConstraint.cc:44
void setFrictionCoeff(double coeff)
Definition: LinearizedCoulombConstraint.cc:29
void setMargin(double margin)
Definition: LinearizedCoulombConstraint.cc:34
void setAngleOffset(double angle_offset)
Definition: LinearizedCoulombConstraint.cc:24
void setNumberOfFaces(int nfaces)
Definition: LinearizedCoulombConstraint.cc:49
LinearizedCoulombConstraint(const std::string &name)
Definition: LinearizedCoulombConstraint.cc:8
virtual void onUpdateConstraintFunction(double current_time, double dt)
Definition: LinearizedCoulombConstraint.cc:74
double getFrictionCoeff() const
Definition: LinearizedCoulombConstraint.cc:14
Builds a double bounded function : l < C.x < u With x the control variable, l = lowerBound, u = upperBound, and C the constraint matrix.
Definition: GenericConstraint.h:55
Definition: CartesianAccelerationPID.h:44
Definition: LinearizedCoulombConstraint.h:46
virtual void onResize()
Definition: LinearizedCoulombConstraint.cc:64