17#ifndef GAZEBO_PHYSICS_SURFACEPARAMS_HH_
18#define GAZEBO_PHYSICS_SURFACEPARAMS_HH_
21#include <ignition/math/Vector3.hh>
122 private:
double Mu(
const unsigned int _index)
const;
130 private:
void SetMu(
unsigned int _index,
double _mu);
136 private:
double mu[3];
143 private:
double patchRadius;
148 private:
double surfaceRadius;
154 private:
bool usePatchRadius;
157 private:
double poissonsRatio;
160 private:
double elasticModulus;
177 public:
virtual void Load(sdf::ElementPtr _sdf);
181 public:
virtual void FillMsg(msgs::Surface &_msg);
default namespace for gazebo
Parameters used for friction pyramid model.
Definition SurfaceParams.hh:37
void SetPoissonsRatio(const double _ratio)
Set the Poisson's ratio.
void SetElasticModulus(const double _modulus)
Set the elastic modulus.
double MuSecondary() const
Get the friction coefficient in the secondary direction.
void SetMuSecondary(double _mu)
Set the friction coefficient in the secondary direction.
double PatchRadius() const
Get the torsional patch radius.
double ElasticModulus() const
Get the elastic modulus.
void SetMuPrimary(double _mu)
Set the friction coefficient in the primary direction.
ignition::math::Vector3d direction1
Vector for specifying the primary friction direction, relative to the parent collision frame.
Definition SurfaceParams.hh:115
void SetSurfaceRadius(const double _radius)
Set the torsional surface radius.
double MuTorsion() const
Get the torsional friction coefficient.
double MuPrimary() const
Get the friction coefficient in the primary direction.
void SetUsePatchRadius(const bool _use)
Set whether to use the surface radius.
bool UsePatchRadius() const
Get the torsional "use patch radius" flag.
double SurfaceRadius() const
Get the torsional surface radius.
double PoissonsRatio() const
Get the Poisson's ratio.
FrictionPyramid()
Constructor.
virtual ~FrictionPyramid()
Destructor.
void SetMuTorsion(const double _mu)
Set the torsional friction coefficient.
void SetPatchRadius(const double _radius)
Set the torsional patch radius.
SurfaceParams defines various Surface contact parameters.
Definition SurfaceParams.hh:168
virtual void FillMsg(msgs::Surface &_msg)
Fill in a surface message.
virtual void ProcessMsg(const msgs::Surface &_msg)
Process a surface message.
unsigned int collideWithoutContactBitmask
Custom collision filtering used when collideWithoutContact is true.
Definition SurfaceParams.hh:197
virtual ~SurfaceParams()
Destructor.
virtual FrictionPyramidPtr FrictionPyramid() const
Get access to FrictionPyramid data, if available.
bool collideWithoutContact
Allow collision checking without generating a contact joint.
Definition SurfaceParams.hh:193
virtual void Load(sdf::ElementPtr _sdf)
Load the contact params.
SurfaceParams()
Constructor.
unsigned int collideBitmask
Custom collision filtering.
Definition SurfaceParams.hh:201
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition PhysicsTypes.hh:165
Forward declarations for the common classes.
Definition Animation.hh:27