ODESurfaceParams.hh

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/*
 * 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