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ContactParams.hh

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00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: Parameters for contact joints
00022  * Author: Nate Koenig
00023  * Date: 30 July 2003
00024  * CVS: $Id: ContactParams.hh,v 1.3 2004/10/31 01:47:19 inspectorg Exp $
00025  */
00026 
00027 #ifndef CONTACTPARAMS_HH
00028 #define CONTACTPARAMS_HH
00029 
00030 class ContactParams
00031 {
00032   // Constructor
00033   public: ContactParams();
00034 
00035   // Spring constant
00036   public: double kp;   
00037 
00038   // Damping constant
00039   public: double kd;
00040 
00041   // 0..1, 0=no bounciness
00042   public: double bounce;
00043   
00044   // coefficients of friction 
00045   public: double mu1,mu2;
00046 
00047   // Force-dependent-slip direction 1 and 2
00048   public: double slip1,slip2;   
00049 };
00050 
00051 #endif


Last updated $Date: 2004/12/21 01:49:15 $
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