ContactParams.hh
Go to the documentation of this file.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