17 #ifndef GAZEBO_PHYSICS_SURFACEPARAMS_HH_ 18 #define GAZEBO_PHYSICS_SURFACEPARAMS_HH_ 21 #include <ignition/math/Vector3.hh> 46 public:
double MuPrimary()
const;
50 public:
double MuSecondary()
const;
54 public:
double MuTorsion()
const;
58 public:
double PatchRadius()
const;
62 public:
double SurfaceRadius()
const;
66 public:
bool UsePatchRadius()
const;
70 public:
void SetMuPrimary(
double _mu);
74 public:
void SetMuSecondary(
double _mu);
78 public:
void SetMuTorsion(
const double _mu);
82 public:
void SetPatchRadius(
const double _radius);
86 public:
void SetSurfaceRadius(
const double _radius);
90 public:
void SetUsePatchRadius(
const bool _use);
94 public:
double PoissonsRatio()
const;
98 public:
void SetPoissonsRatio(
const double _ratio);
102 public:
double ElasticModulus()
const;
106 public:
void SetElasticModulus(
const double _modulus);
122 private:
double Mu(
const unsigned int _index)
const;
130 private:
void SetMu(
unsigned int _index,
double _mu);
136 private:
double mu[3];
143 private:
double patchRadius;
148 private:
double surfaceRadius;
154 private:
bool usePatchRadius;
157 private:
double poissonsRatio;
160 private:
double elasticModulus;
177 public:
virtual void Load(sdf::ElementPtr _sdf);
181 public:
virtual void FillMsg(msgs::Surface &_msg);
185 public:
virtual void ProcessMsg(
const msgs::Surface &_msg);
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:165
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
Forward declarations for the common classes.
Definition: Animation.hh:26
default namespace for gazebo
bool collideWithoutContact
Allow collision checking without generating a contact joint.
Definition: SurfaceParams.hh:193
unsigned int collideWithoutContactBitmask
Custom collision filtering used when collideWithoutContact is true.
Definition: SurfaceParams.hh:197
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:167
ignition::math::Vector3d direction1
Vector for specifying the primary friction direction, relative to the parent collision frame...
Definition: SurfaceParams.hh:115
unsigned int collideBitmask
Custom collision filtering.
Definition: SurfaceParams.hh:201