18 #ifndef _GAZEBO_ODESURFACEPARAMS_HH_
19 #define _GAZEBO_ODESURFACEPARAMS_HH_
46 public:
virtual void Load(sdf::ElementPtr _sdf);
49 public:
virtual void FillMsg(msgs::Surface &_msg);
52 public:
virtual void ProcessMsg(
const msgs::Surface &_msg);
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