ODESurfaceParams.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_ODESURFACEPARAMS_HH_
19 #define _GAZEBO_ODESURFACEPARAMS_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gazebo/msgs/msgs.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class GZ_PHYSICS_VISIBLE ODESurfaceParams : public SurfaceParams
36  {
38  public: ODESurfaceParams();
39 
41  public: virtual ~ODESurfaceParams();
42 
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited.
48  public: virtual void FillMsg(msgs::Surface &_msg);
49 
50  // Documentation inherited.
51  public: virtual void ProcessMsg(const msgs::Surface &_msg);
52 
53  // Documentation inherited.
54  public: virtual FrictionPyramidPtr FrictionPyramid() const;
55 
59  public: double bounce;
60 
64  public: double bounceThreshold;
65 
71  public: double kp;
72 
78  public: double kd;
79 
84  public: double cfm;
85 
90  public: double erp;
91 
97  public: double maxVel;
98 
102  public: double minDepth;
103 
107  public: double slip1;
108 
112  public: double slip2;
113 
115  public: double slipTorsion;
116 
122  private: FrictionPyramidPtr frictionPyramid;
123  };
125  }
126 }
127 #endif
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:165
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
Forward declarations for the common classes.
Definition: Animation.hh:33
double slip1
Artificial contact slip in the primary friction direction.
Definition: ODESurfaceParams.hh:107
ODE surface parameters.
Definition: ODESurfaceParams.hh:35
double bounce
bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic...
Definition: ODESurfaceParams.hh:59
double kp
spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
Definition: ODESurfaceParams.hh:71
double slip2
Artificial contact slip in the secondary friction dirction.
Definition: ODESurfaceParams.hh:112
double bounceThreshold
minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelasti...
Definition: ODESurfaceParams.hh:64
double maxVel
Maximum interpenetration error correction velocity.
Definition: ODESurfaceParams.hh:97
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:167
double slipTorsion
Artificial contact slip in torsional dirction.
Definition: ODESurfaceParams.hh:115
double kd
spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParam...
Definition: ODESurfaceParams.hh:78
double minDepth
Minimum depth before ERP takes effect.
Definition: ODESurfaceParams.hh:102
double cfm
Constraint Force Mixing parameter.
Definition: ODESurfaceParams.hh:84
double erp
Error Reduction Parameter.
Definition: ODESurfaceParams.hh:90