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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);
bool UsePatchRadius() const
Get the torsional "use patch radius" flag.
ignition::math::Vector3d direction1
Vector for specifying the primary friction direction, relative to the parent collision frame.
Definition: SurfaceParams.hh:115
Forward declarations for the common classes.
Definition: Animation.hh:27
void SetMuSecondary(double _mu)
Set the friction coefficient in the secondary direction.
virtual FrictionPyramidPtr FrictionPyramid() const
Get access to FrictionPyramid data, if available.
virtual void ProcessMsg(const msgs::Surface &_msg)
Process a surface message.
virtual void FillMsg(msgs::Surface &_msg)
Fill in a surface message.
double PoissonsRatio() const
Get the Poisson's ratio.
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:37
double SurfaceRadius() const
Get the torsional surface radius.
void SetElasticModulus(const double _modulus)
Set the elastic modulus.
SurfaceParams()
Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Load the contact params.
default namespace for gazebo
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:168
double ElasticModulus() const
Get the elastic modulus.
double MuTorsion() const
Get the torsional friction coefficient.
void SetMuTorsion(const double _mu)
Set the torsional friction coefficient.
FrictionPyramid()
Constructor.
void SetMuPrimary(double _mu)
Set the friction coefficient in the primary direction.
virtual ~FrictionPyramid()
Destructor.
double PatchRadius() const
Get the torsional patch radius.
double MuPrimary() const
Get the friction coefficient in the primary direction.
bool collideWithoutContact
Allow collision checking without generating a contact joint.
Definition: SurfaceParams.hh:193
virtual ~SurfaceParams()
Destructor.
void SetPoissonsRatio(const double _ratio)
Set the Poisson's ratio.
double MuSecondary() const
Get the friction coefficient in the secondary direction.
void SetPatchRadius(const double _radius)
Set the torsional patch radius.
void SetUsePatchRadius(const bool _use)
Set whether to use the surface radius.
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:166
unsigned int collideBitmask
Custom collision filtering.
Definition: SurfaceParams.hh:201
unsigned int collideWithoutContactBitmask
Custom collision filtering used when collideWithoutContact is true.
Definition: SurfaceParams.hh:197
void SetSurfaceRadius(const double _radius)
Set the torsional surface radius.