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SurfaceParams.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: common::Parameters for a surface
18  * Author: Nate Koenig
19  * Date: 30 July 2003
20  */
21 
22 #ifndef _SURFACEPARAMS_HH_
23 #define _SURFACEPARAMS_HH_
24 
25 #include <sdf/sdf.hh>
26 
27 #include "gazebo/msgs/msgs.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
41  {
43  public: SurfaceParams();
44 
46  public: virtual ~SurfaceParams();
47 
50  public: virtual void Load(sdf::ElementPtr _sdf);
51 
54  public: void FillMsg(msgs::Surface &_msg);
55 
56  public: virtual void ProcessMsg(const msgs::Surface &_msg);
57 
61  public: double bounce;
62 
66  public: double bounceThreshold;
67 
73  public: double kp;
74 
80  public: double kd;
81 
86  public: double cfm;
87 
92  public: double erp;
93 
99  public: double maxVel;
100 
104  public: double minDepth;
105 
111  public: double mu1;
112 
118  public: double mu2;
119 
123  public: double slip1;
124 
128  public: double slip2;
129 
136 
138  public: bool collideWithoutContact;
139 
142  public: unsigned int collideWithoutContactBitmask;
143  };
145  }
146 }
147 #endif