##

ODESurfaceParams.hh
Go to the documentation of this file.
/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _GAZEBO_ODESURFACEPARAMS_HH_
#define _GAZEBO_ODESURFACEPARAMS_HH_
#include <sdf/sdf.hh>
#include "gazebo/msgs/msgs.hh"
#include "gazebo/physics/SurfaceParams.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE ODESurfaceParams : public SurfaceParams
{
public: ODESurfaceParams();
public: virtual ~ODESurfaceParams();
public: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual void FillMsg(msgs::Surface &_msg);
// Documentation inherited.
public: virtual void ProcessMsg(const msgs::Surface &_msg);
// Documentation inherited.
public: virtual FrictionPyramidPtr FrictionPyramid() const;
public: double bounce;
public: double bounceThreshold;
public: double kp;
public: double kd;
public: double cfm;
public: double erp;
public: double maxVel;
public: double minDepth;
public: double slip1;
public: double slip2;
public: double slipTorsion;
private: FrictionPyramidPtr frictionPyramid;
};
}
}
#endif
gazebo::physics::ODESurfaceParams::kp
double kp
spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
Definition: ODESurfaceParams.hh:71
gazebo::physics::ODESurfaceParams::bounce
double bounce
bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic.
Definition: ODESurfaceParams.hh:59
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::ODESurfaceParams::slip2
double slip2
Artificial contact slip in the secondary friction dirction.
Definition: ODESurfaceParams.hh:112
gazebo::physics::ODESurfaceParams::bounceThreshold
double bounceThreshold
minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelasti...
Definition: ODESurfaceParams.hh:64
gazebo::physics::ODESurfaceParams::slipTorsion
double slipTorsion
Artificial contact slip in torsional dirction.
Definition: ODESurfaceParams.hh:115
gazebo::physics::ODESurfaceParams::ODESurfaceParams
ODESurfaceParams()
Constructor.
gazebo::physics::FrictionPyramid
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
gazebo::physics::ODESurfaceParams::erp
double erp
Error Reduction Parameter.
Definition: ODESurfaceParams.hh:90
system.hh
gazebo::physics::ODESurfaceParams::FrictionPyramid
virtual FrictionPyramidPtr FrictionPyramid() const
Get access to FrictionPyramid data, if available.
msgs.hh
gazebo::physics::SurfaceParams
SurfaceParams defines various Surface contact parameters. These parameters defines the properties of ...
Definition: SurfaceParams.hh:167
SurfaceParams.hh
gazebo::physics::ODESurfaceParams::maxVel
double maxVel
Maximum interpenetration error correction velocity.
Definition: ODESurfaceParams.hh:97
gazebo::physics::ODESurfaceParams::minDepth
double minDepth
Minimum depth before ERP takes effect.
Definition: ODESurfaceParams.hh:102
gazebo::physics::ODESurfaceParams::slip1
double slip1
Artificial contact slip in the primary friction direction.
Definition: ODESurfaceParams.hh:107
gazebo::physics::ODESurfaceParams::cfm
double cfm
Constraint Force Mixing parameter.
Definition: ODESurfaceParams.hh:84
gazebo::physics::ODESurfaceParams::kd
double kd
spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParam...
Definition: ODESurfaceParams.hh:78
gazebo::physics::FrictionPyramidPtr
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:165
gazebo::physics::ODESurfaceParams::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the contact params.
gazebo::physics::ODESurfaceParams::FillMsg
virtual void FillMsg(msgs::Surface &_msg)
Fill in a surface message.
gazebo::physics::ODESurfaceParams
ODE surface parameters.
Definition: ODESurfaceParams.hh:35
gazebo::physics::ODESurfaceParams::ProcessMsg
virtual void ProcessMsg(const msgs::Surface &_msg)
Process a surface message.
gazebo::physics::ODESurfaceParams::~ODESurfaceParams
virtual ~ODESurfaceParams()
Destructor.