SurfaceParams.hh

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/*
 * Copyright 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: common::Parameters for a surface
 * Author: Nate Koenig
 * Date: 30 July 2003
 */

#ifndef _SURFACEPARAMS_HH_
#define _SURFACEPARAMS_HH_

#include <sdf/sdf.hh>

#include "gazebo/msgs/msgs.hh"

namespace gazebo
{
  namespace physics
  {

    class SurfaceParams
    {
      public: SurfaceParams();

      public: virtual ~SurfaceParams();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: void FillMsg(msgs::Surface &_msg);

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

      public: double bounce;

      public: double bounceThreshold;

      public: double kp;

      public: double kd;

      public: double cfm;

      public: double erp;

      public: double maxVel;

      public: double minDepth;

      public: double mu1;

      public: double mu2;

      public: double slip1;

      public: double slip2;

      public: math::Vector3 fdir1;

      public: bool collideWithoutContact;

      public: unsigned int collideWithoutContactBitmask;
    };
  }
}
#endif