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SurfaceParams.hh
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1 /*
2  * Copyright 2012 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: common::Parameters for a surface
18  * Author: Nate Koenig
19  * Date: 30 July 2003
20  */
21 
22 #ifndef _SURFACEPARAMS_HH_
23 #define _SURFACEPARAMS_HH_
24 
25 #include "gazebo/msgs/msgs.hh"
26 #include "gazebo/sdf/sdf.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
40  {
42  public: SurfaceParams();
43 
45  public: virtual ~SurfaceParams();
46 
49  public: virtual void Load(sdf::ElementPtr _sdf);
50 
52  public: void FillSurfaceMsg(msgs::Surface &_msg) GAZEBO_DEPRECATED;
53 
56  public: void FillMsg(msgs::Surface &_msg);
57 
58  public: virtual void ProcessMsg(const msgs::Surface &_msg);
59 
63  public: double bounce;
64 
68  public: double bounceThreshold;
69 
75  public: double kp;
76 
82  public: double kd;
83 
88  public: double cfm;
89 
94  public: double erp;
95 
101  public: double maxVel;
102 
106  public: double minDepth;
107 
113  public: double mu1;
114 
120  public: double mu2;
121 
125  public: double slip1;
126 
130  public: double slip2;
131 
138  };
140  }
141 }
142 #endif