ODESurfaceParams Class Reference

ODE surface parameters. More...

#include <ODESurfaceParams.hh>

Inherits SurfaceParams.

Public Member Functions
	ODESurfaceParams ()
	Constructor. More...
virtual	~ODESurfaceParams ()
	Destructor. More...
virtual void	FillMsg (msgs::Surface &_msg)
	Fill in a surface message. More...
virtual FrictionPyramidPtr	FrictionPyramid () const
	Get access to FrictionPyramid data, if available. 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 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...
unsigned int	collideBitmask
	Custom collision filtering. More...
bool	collideWithoutContact
	Allow collision checking without generating a contact joint. More...
unsigned int	collideWithoutContactBitmask
	Custom collision filtering used when collideWithoutContact is true. More...
double	erp
	Error Reduction Parameter. 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...
double	slipTorsion
	Artificial contact slip in torsional dirction. More...

Detailed Description

ODE surface parameters.

Constructor & Destructor Documentation

ODESurfaceParams

(

)

Constructor.

virtual ~ODESurfaceParams ( )

virtual

Destructor.

Member Function Documentation

virtual void FillMsg ( msgs::Surface &  _msg )

virtual

Fill in a surface message.

Parameters

[in]

_msg

Message to fill with this object's values.

Reimplemented from SurfaceParams.

virtual FrictionPyramidPtr FrictionPyramid ( ) const

virtual

Get access to FrictionPyramid data, if available.

Returns

Pointer to FrictionPyramid data or NULL if class does not use FrictionPyramid data.

Reimplemented from SurfaceParams.

virtual void Load ( sdf::ElementPtr  _sdf )

virtual

Load the contact params.

Parameters

[in]

_sdf

SDF values to load from.

Reimplemented from SurfaceParams.

virtual void ProcessMsg ( const msgs::Surface &  _msg )

virtual

Process a surface message.

Parameters

[in]

_msg

Message to read values from.

Reimplemented from SurfaceParams.

Member Data Documentation

double 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 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 cfm

Constraint Force Mixing parameter.

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

unsigned int collideBitmask

inherited

Custom collision filtering.

Will override collideWithoutContact.

bool collideWithoutContact

inherited

Allow collision checking without generating a contact joint.

unsigned int collideWithoutContactBitmask

inherited

Custom collision filtering used when collideWithoutContact is true.

double erp

Error Reduction Parameter.

See Also

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

double 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 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 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 minDepth

Minimum depth before ERP takes effect.

See Also

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

double 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 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

double slipTorsion

Artificial contact slip in torsional dirction.

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

• ODESurfaceParams.hh