SurfaceParams defines various Surface contact parameters. More...
#include <physics/physics.hh>
Public Member Functions | |
| SurfaceParams () | |
| Constructor. | |
| virtual | ~SurfaceParams () |
| Destructor. | |
| void | FillMsg (msgs::Surface &_msg) |
| Fill in a surface message. | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load the contact params. | |
| virtual void | ProcessMsg (const msgs::Surface &_msg) |
Public Attributes | |
| double | bounce |
| bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic. | |
| double | bounceThreshold |
| minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision. | |
| double | cfm |
| Constraint Force Mixing parameter. | |
| bool | collideWithoutContact |
| Allow collision checking without generating a contact joint. | |
| unsigned int | collideWithoutContactBitmask |
| Custom collision filtering used when collideWithoutContact is true. | |
| double | erp |
| Error Reduction Parameter. | |
| math::Vector3 | fdir1 |
| Primary friction direction for dry friction coefficient (SurfaceParams::mu1) of the friction pyramid. | |
| double | kd |
| spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp. | |
| double | kp |
| spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp. | |
| double | maxVel |
| Maximum interpenetration error correction velocity. | |
| double | minDepth |
| Minimum depth before ERP takes effect. | |
| double | mu1 |
| Dry friction coefficient in the primary friction direction as defined by the friction pyramid. | |
| double | mu2 |
| Dry friction coefficient in the second friction direction as defined by the friction pyramid. | |
| double | slip1 |
| Artificial contact slip in the primary friction direction. | |
| double | slip2 |
| Artificial contact slip in the secondary friction dirction. | |
SurfaceParams defines various Surface contact parameters.
These parameters defines the properties of a physics::Contact constraint.
| gazebo::physics::SurfaceParams::SurfaceParams | ( | ) |
Constructor.
|
virtual |
Destructor.
| void gazebo::physics::SurfaceParams::FillMsg | ( | msgs::Surface & | _msg | ) |
Fill in a surface message.
| [in] | _msg | Message to fill with this object's values. |
|
virtual |
Load the contact params.
| [in] | _sdf | SDF values to load from. |
|
virtual |
| double gazebo::physics::SurfaceParams::bounce |
bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic.
| double gazebo::physics::SurfaceParams::bounceThreshold |
minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision.
| double gazebo::physics::SurfaceParams::cfm |
Constraint Force Mixing parameter.
See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.
| bool gazebo::physics::SurfaceParams::collideWithoutContact |
Allow collision checking without generating a contact joint.
| unsigned int gazebo::physics::SurfaceParams::collideWithoutContactBitmask |
Custom collision filtering used when collideWithoutContact is true.
| double gazebo::physics::SurfaceParams::erp |
Error Reduction Parameter.
| math::Vector3 gazebo::physics::SurfaceParams::fdir1 |
Primary friction direction for dry friction coefficient (SurfaceParams::mu1) of the friction pyramid.
If undefined, a vector consstrained to be perpendicular to the contact normal in the global y-z plane is used.
| double gazebo::physics::SurfaceParams::kd |
spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
| double gazebo::physics::SurfaceParams::kp |
spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
| double gazebo::physics::SurfaceParams::maxVel |
Maximum interpenetration error correction velocity.
If set to 0, two objects interpenetrating each other will not be pushed apart.
| double gazebo::physics::SurfaceParams::minDepth |
Minimum depth before ERP takes effect.
| double gazebo::physics::SurfaceParams::mu1 |
Dry friction coefficient in the primary friction direction as defined by the friction pyramid.
This is fdir1 if defined, otherwise, a vector consstrained to be perpendicular to the contact normal in the global y-z plane is used.
| double gazebo::physics::SurfaceParams::mu2 |
Dry friction coefficient in the second friction direction as defined by the friction pyramid.
This is fdir1 if defined, otherwise, a vector consstrained to be perpendicular to the contact normal in the global y-z plane is used.
| double gazebo::physics::SurfaceParams::slip1 |
Artificial contact slip in the primary friction direction.
| double gazebo::physics::SurfaceParams::slip2 |
Artificial contact slip in the secondary friction dirction.