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Public Member Functions | Public Attributes | List of all members
gazebo::physics::ODESurfaceParams Class Reference

ODE surface parameters. More...

#include <ODESurfaceParams.hh>

Inheritance diagram for gazebo::physics::ODESurfaceParams:
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Public Member Functions

 ODESurfaceParams ()
 Constructor. More...
 
virtual ~ODESurfaceParams ()
 Destructor. More...
 
virtual void FillMsg (msgs::Surface &_msg)
 Fill in a surface message. 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 Member Functions inherited from gazebo::physics::SurfaceParams
 SurfaceParams ()
 Constructor. More...
 
virtual ~SurfaceParams ()
 Destructor. 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...
 
double erp
 Error Reduction Parameter. More...
 
FrictionPyramid frictionPyramid
 Friction pyramid parameters (mu1, mu2). 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...
 
- Public Attributes inherited from gazebo::physics::SurfaceParams
bool collideWithoutContact
 Allow collision checking without generating a contact joint. More...
 
unsigned int collideWithoutContactBitmask
 Custom collision filtering used when collideWithoutContact is true. More...
 

Detailed Description

ODE surface parameters.

Constructor & Destructor Documentation

gazebo::physics::ODESurfaceParams::ODESurfaceParams ( )

Constructor.

virtual gazebo::physics::ODESurfaceParams::~ODESurfaceParams ( )
virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::ODESurfaceParams::FillMsg ( msgs::Surface &  _msg)
virtual

Fill in a surface message.

Parameters
[in]_msgMessage to fill with this object's values.

Reimplemented from gazebo::physics::SurfaceParams.

virtual void gazebo::physics::ODESurfaceParams::Load ( sdf::ElementPtr  _sdf)
virtual

Load the contact params.

Parameters
[in]_sdfSDF values to load from.

Reimplemented from gazebo::physics::SurfaceParams.

virtual void gazebo::physics::ODESurfaceParams::ProcessMsg ( const msgs::Surface &  _msg)
virtual

Process a surface message.

Parameters
[in]_msgMessage to read values from.

Reimplemented from gazebo::physics::SurfaceParams.

Member Data Documentation

double gazebo::physics::ODESurfaceParams::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::ODESurfaceParams::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::ODESurfaceParams::cfm

Constraint Force Mixing parameter.

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

double gazebo::physics::ODESurfaceParams::erp

Error Reduction Parameter.

See Also
See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.
FrictionPyramid gazebo::physics::ODESurfaceParams::frictionPyramid

Friction pyramid parameters (mu1, mu2).

Note that the primary friction pyramid direction can be specified by fdir1, otherwise a vector constrained 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::ODESurfaceParams::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::ODESurfaceParams::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::ODESurfaceParams::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::ODESurfaceParams::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::ODESurfaceParams::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::ODESurfaceParams::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: