SimTK::ConditionalConstraint Class Reference

TODO: Simbody model element representing a conditionally-enforced constraint. More...

Static Public Member Functions
static Real	calcEffectiveCOR (Real minCOR, Real captureSpeed, Real minCORSpeed, Real impactSpeed)
	Given the specified minimum coefficient of restitution (COR), capture speed, and the speed at which the minimum COR is attained, calculate an effective COR for a given impact speed. More...
static Real	calcEffectiveCOF (Real mu_s, Real mu_d, Real mu_v, Real transitionSpeed, Real slipSpeed)
	Given the coefficients of friction and slip-to-rolling transition speed, calculate the effective COF mu for a given slip velocity. More...

Detailed Description

TODO: Simbody model element representing a conditionally-enforced constraint.

Member Function Documentation

static Real SimTK::ConditionalConstraint::calcEffectiveCOR ( Real  minCOR, Real  captureSpeed, Real  minCORSpeed, Real  impactSpeed  )

inlinestatic

Given the specified minimum coefficient of restitution (COR), capture speed, and the speed at which the minimum COR is attained, calculate an effective COR for a given impact speed.

All speeds must be nonnegative. The COR will be zero at or below capture speed, will be minCOR at or above minCORSpeed, and will rise linearly with decreasing impact speed between minCORSpeed and the capture velocity.

static Real SimTK::ConditionalConstraint::calcEffectiveCOF ( Real  mu_s, Real  mu_d, Real  mu_v, Real  transitionSpeed, Real  slipSpeed  )

inlinestatic

Given the coefficients of friction and slip-to-rolling transition speed, calculate the effective COF mu for a given slip velocity.

Speeds must be nonnegative. This utility calculates mu with an abrupt rise at the transitionSpeed from the dynamic coefficient mu_d to the static coefficient mu_s. There is also a linear contribution mu_v*slipSpeed.

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The documentation for this class was generated from the following file:

• ConditionalConstraint.h