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gazebo
physics
SurfaceParams.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012-2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SURFACEPARAMS_HH_
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#define _SURFACEPARAMS_HH_
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#include <sdf/sdf.hh>
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#include "
gazebo/msgs/msgs.hh
"
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#include "
gazebo/util/system.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
GAZEBO_VISIBLE
FrictionPyramid
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{
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public
:
FrictionPyramid
();
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public
:
virtual
~
FrictionPyramid
();
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public
:
double
GetMuPrimary();
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public
:
double
GetMuSecondary();
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public
:
void
SetMuPrimary(
double
_mu);
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public
:
void
SetMuSecondary(
double
_mu);
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private
:
double
GetMu(
unsigned
int
_index);
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private
:
void
SetMu(
unsigned
int
_index,
double
_mu);
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public
:
math::Vector3
direction1
;
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private
:
double
mu[2];
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};
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class
GAZEBO_VISIBLE
SurfaceParams
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{
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public
:
SurfaceParams
();
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public
:
virtual
~
SurfaceParams
();
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public
:
virtual
void
Load(sdf::ElementPtr _sdf);
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public
:
virtual
void
FillMsg(msgs::Surface &_msg);
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public
:
virtual
void
ProcessMsg(
const
msgs::Surface &_msg);
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public
:
bool
collideWithoutContact
;
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public
:
unsigned
int
collideWithoutContactBitmask
;
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};
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}
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}
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#endif