ODESurfaceParams.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_ODESURFACEPARAMS_HH_
19 #define _GAZEBO_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 
54  // Documentation inherited.
55  public: virtual FrictionPyramidPtr GetFrictionPyramid() const
56  GAZEBO_DEPRECATED(7.0);
57 
58  // Documentation inherited.
59  public: virtual FrictionPyramidPtr FrictionPyramid() const;
60 
64  public: double bounce;
65 
69  public: double bounceThreshold;
70 
76  public: double kp;
77 
83  public: double kd;
84 
89  public: double cfm;
90 
95  public: double erp;
96 
102  public: double maxVel;
103 
107  public: double minDepth;
108 
112  public: double slip1;
113 
117  public: double slip2;
118 
120  public: double slipTorsion;
121 
127  private: FrictionPyramidPtr frictionPyramid;
128  };
130  }
131 }
132 #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:102
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:48
double erp
Error Reduction Parameter.
Definition: ODESurfaceParams.hh:95
double kd
spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParam...
Definition: ODESurfaceParams.hh:83
ODE surface parameters.
Definition: ODESurfaceParams.hh:36
double slipTorsion
Artificial contact slip in torsional dirction.
Definition: ODESurfaceParams.hh:120
double bounceThreshold
minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelasti...
Definition: ODESurfaceParams.hh:69
double minDepth
Minimum depth before ERP takes effect.
Definition: ODESurfaceParams.hh:107
double bounce
bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic...
Definition: ODESurfaceParams.hh:64
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:177
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:76
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:156
double cfm
Constraint Force Mixing parameter.
Definition: ODESurfaceParams.hh:89