ODESurfaceParams.hh
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2  * Copyright (C) 2012-2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _ODESURFACEPARAMS_HH_
19 #define _ODESURFACEPARAMS_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gazebo/math/Vector3.hh"
24 #include "gazebo/msgs/msgs.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
37  {
39  public: ODESurfaceParams();
40 
42  public: virtual ~ODESurfaceParams();
43 
46  public: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited.
49  public: virtual void FillMsg(msgs::Surface &_msg);
50 
51  // Documentation inherited.
52  public: virtual void ProcessMsg(const msgs::Surface &_msg);
53 
57  public: double bounce;
58 
62  public: double bounceThreshold;
63 
69  public: double kp;
70 
76  public: double kd;
77 
82  public: double cfm;
83 
88  public: double erp;
89 
95  public: double maxVel;
96 
100  public: double minDepth;
101 
108 
112  public: double slip1;
113 
117  public: double slip2;
118  };
120  }
121 }
122 #endif
double slip2
Artificial contact slip in the secondary friction dirction.
Definition: ODESurfaceParams.hh:117
double maxVel
Maximum interpenetration error correction velocity.
Definition: ODESurfaceParams.hh:95
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:35
double erp
Error Reduction Parameter.
Definition: ODESurfaceParams.hh:88
double kd
spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParam...
Definition: ODESurfaceParams.hh:76
ODE surface parameters.
Definition: ODESurfaceParams.hh:36
double bounceThreshold
minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelasti...
Definition: ODESurfaceParams.hh:62
double minDepth
Minimum depth before ERP takes effect.
Definition: ODESurfaceParams.hh:100
double bounce
bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic...
Definition: ODESurfaceParams.hh:57
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:93
double slip1
Artificial contact slip in the primary friction direction.
Definition: ODESurfaceParams.hh:112
double kp
spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
Definition: ODESurfaceParams.hh:69
FrictionPyramid frictionPyramid
Friction pyramid parameters (mu1, mu2).
Definition: ODESurfaceParams.hh:107
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
double cfm
Constraint Force Mixing parameter.
Definition: ODESurfaceParams.hh:82