gazebo::physics::ODESurfaceParams Class Reference

ODE surface parameters. More...

#include <ODESurfaceParams.hh>

Inheritance diagram for gazebo::physics::ODESurfaceParams:

Public Member Functions
	ODESurfaceParams ()
	Constructor. More...
virtual	~ODESurfaceParams ()
	Destructor. More...
virtual void	FillMsg (msgs::Surface &_msg)
	Fill in a surface message. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load the contact params. More...
virtual void	ProcessMsg (const msgs::Surface &_msg)
	Process a surface message. More...
Public Member Functions inherited from gazebo::physics::SurfaceParams
	SurfaceParams ()
	Constructor. More...
virtual	~SurfaceParams ()
	Destructor. More...

Public Attributes
double	bounce
	bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic. More...
double	bounceThreshold
	minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision. More...
double	cfm
	Constraint Force Mixing parameter. More...
double	erp
	Error Reduction Parameter. More...
FrictionPyramid	frictionPyramid
	Friction pyramid parameters (mu1, mu2). More...
double	kd
	spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp. More...
double	kp
	spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp. More...
double	maxVel
	Maximum interpenetration error correction velocity. More...
double	minDepth
	Minimum depth before ERP takes effect. More...
double	slip1
	Artificial contact slip in the primary friction direction. More...
double	slip2
	Artificial contact slip in the secondary friction dirction. More...
Public Attributes inherited from gazebo::physics::SurfaceParams
bool	collideWithoutContact
	Allow collision checking without generating a contact joint. More...
unsigned int	collideWithoutContactBitmask
	Custom collision filtering used when collideWithoutContact is true. More...

Detailed Description

ODE surface parameters.

Constructor & Destructor Documentation

gazebo::physics::ODESurfaceParams::ODESurfaceParams

(

)

Constructor.

virtual gazebo::physics::ODESurfaceParams::~ODESurfaceParams ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::ODESurfaceParams::FillMsg ( msgs::Surface &  _msg )

virtual

Fill in a surface message.

Parameters

[in]

_msg

Message to fill with this object's values.

Reimplemented from gazebo::physics::SurfaceParams.

virtual void gazebo::physics::ODESurfaceParams::Load ( sdf::ElementPtr  _sdf )

virtual

Load the contact params.

Parameters

[in]

_sdf

SDF values to load from.

Reimplemented from gazebo::physics::SurfaceParams.

virtual void gazebo::physics::ODESurfaceParams::ProcessMsg ( const msgs::Surface &  _msg )

virtual

Process a surface message.

Parameters

[in]

_msg

Message to read values from.

Reimplemented from gazebo::physics::SurfaceParams.

Member Data Documentation

double gazebo::physics::ODESurfaceParams::bounce

bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::ODESurfaceParams::bounceThreshold

minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::ODESurfaceParams::cfm

Constraint Force Mixing parameter.

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.

double gazebo::physics::ODESurfaceParams::erp

Error Reduction Parameter.

See Also

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.

FrictionPyramid gazebo::physics::ODESurfaceParams::frictionPyramid

Friction pyramid parameters (mu1, mu2).

Note that the primary friction pyramid direction can be specified by fdir1, otherwise a vector constrained to be perpendicular to the contact normal in the global y-z plane is used.

See Also

http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::ODESurfaceParams::kd

spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.

See Also

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_2 for more details.

double gazebo::physics::ODESurfaceParams::kp

spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.

See Also

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_2 for more details.

double gazebo::physics::ODESurfaceParams::maxVel

Maximum interpenetration error correction velocity.

If set to 0, two objects interpenetrating each other will not be pushed apart.

See Also

See dWroldSetContactMaxCorrectingVel (http://www.ode.org/ode-latest-userguide.html#sec_5_2_0)

double gazebo::physics::ODESurfaceParams::minDepth

Minimum depth before ERP takes effect.

See Also

See dWorldSetContactSurfaceLayer (http://www.ode.org/ode-latest-userguide.html#sec_5_2_0)

double gazebo::physics::ODESurfaceParams::slip1

Artificial contact slip in the primary friction direction.

See Also

See dContactSlip1 in http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

double gazebo::physics::ODESurfaceParams::slip2

Artificial contact slip in the secondary friction dirction.

See Also

See dContactSlip2 in http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

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The documentation for this class was generated from the following file:

• ODESurfaceParams.hh