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gazebo::physics::SurfaceParams Class Reference

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.

Detailed Description

SurfaceParams defines various Surface contact parameters.

These parameters defines the properties of a physics::Contact constraint.

Constructor & Destructor Documentation

gazebo::physics::SurfaceParams::SurfaceParams ( )

Constructor.

virtual gazebo::physics::SurfaceParams::~SurfaceParams ( )
virtual

Destructor.

Member Function Documentation

void gazebo::physics::SurfaceParams::FillMsg ( msgs::Surface &  _msg)

Fill in a surface message.

Parameters
[in]_msgMessage to fill with this object's values.
virtual void gazebo::physics::SurfaceParams::Load ( sdf::ElementPtr  _sdf)
virtual

Load the contact params.

Parameters
[in]_sdfSDF values to load from.
virtual void gazebo::physics::SurfaceParams::ProcessMsg ( const msgs::Surface &  _msg)
virtual

Member Data Documentation

double gazebo::physics::SurfaceParams::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 gazebo::physics::SurfaceParams::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 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.

See Also
See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.
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.
See Also
http://www.ode.org/ode-latest-userguide.html#sec_7_3_7
double gazebo::physics::SurfaceParams::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 gazebo::physics::SurfaceParams::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 gazebo::physics::SurfaceParams::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 gazebo::physics::SurfaceParams::minDepth

Minimum depth before ERP takes effect.

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

See Also
http://www.ode.org/ode-latest-userguide.html#sec_7_3_7
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.

See Also
http://www.ode.org/ode-latest-userguide.html#sec_7_3_7
double gazebo::physics::SurfaceParams::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 gazebo::physics::SurfaceParams::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

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