gazebo::physics::SurfaceParams Class Reference

SurfaceParams defines various Surface contact parameters. More...

#include <physics/physics.hh>

Public Member Functions
	SurfaceParams ()
	Constructor.
virtual	~SurfaceParams ()
	Destructor.
void	FillMsg (msgs::Surface &_msg)
	Fill in a surface message.
virtual void	Load (sdf::ElementPtr _sdf)
	Load the contact params.
virtual void	ProcessMsg (const msgs::Surface &_msg)

Public Attributes
double	bounce
	bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic.
double	bounceThreshold
	minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision.
double	cfm
	Constraint Force Mixing parameter.
double	erp
	Error Reduction Parameter.
math::Vector3	fdir1
	Primary friction direction for dry friction coefficient (SurfaceParams::mu1) of the friction pyramid.
double	kd
	spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
double	kp
	spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
double	maxVel
	Maximum interpenetration error correction velocity.
double	minDepth
	Minimum depth before ERP takes effect.
double	mu1
	Dry friction coefficient in the primary friction direction as defined by the friction pyramid.
double	mu2
	Dry friction coefficient in the second friction direction as defined by the friction pyramid.
double	slip1
	Artificial contact slip in the primary friction direction.
double	slip2
	Artificial contact slip in the secondary friction dirction.

Detailed Description

SurfaceParams defines various Surface contact parameters.

These parameters defines the properties of a physics::Contact constraint.

Constructor & Destructor Documentation

gazebo::physics::SurfaceParams::SurfaceParams

(

)

Constructor.

virtual gazebo::physics::SurfaceParams::~SurfaceParams ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::SurfaceParams::FillMsg

(

msgs::Surface &

_msg

)

Fill in a surface message.

Parameters

[in]

_msg

Message to fill with this object's values.

virtual void gazebo::physics::SurfaceParams::Load ( sdf::ElementPtr  _sdf )

virtual

Load the contact params.

Parameters

[in]

_sdf

SDF values to load from.

virtual void gazebo::physics::SurfaceParams::ProcessMsg ( const msgs::Surface &  _msg )

virtual

Member Data Documentation

double gazebo::physics::SurfaceParams::bounce

bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::SurfaceParams::bounceThreshold

minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::SurfaceParams::cfm

Constraint Force Mixing parameter.

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.

double gazebo::physics::SurfaceParams::erp

Error Reduction Parameter.

See Also

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.

math::Vector3 gazebo::physics::SurfaceParams::fdir1

Primary friction direction for dry friction coefficient (SurfaceParams::mu1) of the friction pyramid.

   If undefined, a vector consstrained to be perpendicular
   to the contact normal in the global y-z plane is used.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::SurfaceParams::kd

spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.

See Also

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_2 for more details.

double gazebo::physics::SurfaceParams::kp

spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.

See Also

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_2 for more details.

double gazebo::physics::SurfaceParams::maxVel

Maximum interpenetration error correction velocity.

If set to 0, two objects interpenetrating each other will not be pushed apart.

See Also

See dWroldSetContactMaxCorrectingVel (http://www.ode.org/ode-latest-userguide.html#sec_5_2_0)

double gazebo::physics::SurfaceParams::minDepth

Minimum depth before ERP takes effect.

See Also

See dWorldSetContactSurfaceLayer (http://www.ode.org/ode-latest-userguide.html#sec_5_2_0)

double gazebo::physics::SurfaceParams::mu1

Dry friction coefficient in the primary friction direction as defined by the friction pyramid.

This is fdir1 if defined, otherwise, a vector consstrained to be perpendicular to the contact normal in the global y-z plane is used.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::SurfaceParams::mu2

Dry friction coefficient in the second friction direction as defined by the friction pyramid.

This is fdir1 if defined, otherwise, a vector consstrained to be perpendicular to the contact normal in the global y-z plane is used.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::SurfaceParams::slip1

Artificial contact slip in the primary friction direction.

See Also

See dContactSlip1 in http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::SurfaceParams::slip2

Artificial contact slip in the secondary friction dirction.

See Also

See dContactSlip2 in http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

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

• SurfaceParams.hh