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18 #ifndef _GAZEBO_ODESURFACEPARAMS_HH_
19 #define _GAZEBO_ODESURFACEPARAMS_HH_
45 public:
virtual void Load(sdf::ElementPtr _sdf);
48 public:
virtual void FillMsg(msgs::Surface &_msg);
51 public:
virtual void ProcessMsg(
const msgs::Surface &_msg);
double kp
spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.
Definition: ODESurfaceParams.hh:71
double bounce
bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic.
Definition: ODESurfaceParams.hh:59
Forward declarations for the common classes.
Definition: Animation.hh:26
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 slipTorsion
Artificial contact slip in torsional dirction.
Definition: ODESurfaceParams.hh:115
ODESurfaceParams()
Constructor.
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
double erp
Error Reduction Parameter.
Definition: ODESurfaceParams.hh:90
virtual FrictionPyramidPtr FrictionPyramid() const
Get access to FrictionPyramid data, if available.
SurfaceParams defines various Surface contact parameters. These parameters defines the properties of ...
Definition: SurfaceParams.hh:167
double maxVel
Maximum interpenetration error correction velocity.
Definition: ODESurfaceParams.hh:97
double minDepth
Minimum depth before ERP takes effect.
Definition: ODESurfaceParams.hh:102
double slip1
Artificial contact slip in the primary friction direction.
Definition: ODESurfaceParams.hh:107
double cfm
Constraint Force Mixing parameter.
Definition: ODESurfaceParams.hh:84
double kd
spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParam...
Definition: ODESurfaceParams.hh:78
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:166
virtual void Load(sdf::ElementPtr _sdf)
Load the contact params.
virtual void FillMsg(msgs::Surface &_msg)
Fill in a surface message.
ODE surface parameters.
Definition: ODESurfaceParams.hh:35
virtual void ProcessMsg(const msgs::Surface &_msg)
Process a surface message.
virtual ~ODESurfaceParams()
Destructor.