ODESurfaceParams Class Reference

ODE surface parameters. More...

#include <ODESurfaceParams.hh>

Inherits SurfaceParams.

Public Member Functions

 ODESurfaceParams ()
 Constructor. More...
 
virtual ~ODESurfaceParams ()
 Destructor. More...
 
virtual void FillMsg (msgs::Surface &_msg)
 Fill in a surface message. More...
 
virtual FrictionPyramidPtr FrictionPyramid () const
 Get access to FrictionPyramid data, if available. 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 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...
 
unsigned int collideBitmask
 Custom collision filtering. More...
 
bool collideWithoutContact
 Allow collision checking without generating a contact joint. More...
 
unsigned int collideWithoutContactBitmask
 Custom collision filtering used when collideWithoutContact is true. More...
 
double erp
 Error Reduction Parameter. 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...
 
double slipTorsion
 Artificial contact slip in torsional dirction. More...
 

Detailed Description

ODE surface parameters.

Constructor & Destructor Documentation

Constructor.

virtual ~ODESurfaceParams ( )
virtual

Destructor.

Member Function Documentation

virtual void FillMsg ( msgs::Surface &  _msg)
virtual

Fill in a surface message.

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

Reimplemented from SurfaceParams.

virtual FrictionPyramidPtr FrictionPyramid ( ) const
virtual

Get access to FrictionPyramid data, if available.

Returns
Pointer to FrictionPyramid data or NULL if class does not use FrictionPyramid data.

Reimplemented from SurfaceParams.

virtual void Load ( sdf::ElementPtr  _sdf)
virtual

Load the contact params.

Parameters
[in]_sdfSDF values to load from.

Reimplemented from SurfaceParams.

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

Process a surface message.

Parameters
[in]_msgMessage to read values from.

Reimplemented from SurfaceParams.

Member Data Documentation

double 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 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 cfm

Constraint Force Mixing parameter.

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

unsigned int collideBitmask
inherited

Custom collision filtering.

Will override collideWithoutContact.

bool collideWithoutContact
inherited

Allow collision checking without generating a contact joint.

unsigned int collideWithoutContactBitmask
inherited

Custom collision filtering used when collideWithoutContact is true.

double erp

Error Reduction Parameter.

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

Minimum depth before ERP takes effect.

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

Artificial contact slip in torsional dirction.


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