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SurfaceParams.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
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 
18 #ifndef _SURFACEPARAMS_HH_
19 #define _SURFACEPARAMS_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gazebo/msgs/msgs.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
32 
36  {
38  public: FrictionPyramid();
39 
41  public: virtual ~FrictionPyramid();
42 
45  public: double GetMuPrimary();
46 
49  public: double GetMuSecondary();
50 
53  public: void SetMuPrimary(double _mu);
54 
57  public: void SetMuSecondary(double _mu);
58 
64  private: double GetMu(unsigned int _index);
65 
72  private: void SetMu(unsigned int _index, double _mu);
73 
82 
86  private: double mu[2];
87  };
88 
94  {
96  public: SurfaceParams();
97 
99  public: virtual ~SurfaceParams();
100 
103  public: virtual void Load(sdf::ElementPtr _sdf);
104 
107  public: virtual void FillMsg(msgs::Surface &_msg);
108 
111  public: virtual void ProcessMsg(const msgs::Surface &_msg);
112 
114  public: bool collideWithoutContact;
115 
118  public: unsigned int collideWithoutContactBitmask;
119  };
121  }
122 }
123 #endif