ContactParams.hh
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 * SVN: $Id: ContactParams.hh 156 2007-11-26 20:26:57Z natepak $ 00025 */ 00026 00027 #ifndef CONTACTPARAMS_HH 00028 #define CONTACTPARAMS_HH 00029 00030 namespace gazebo 00031 { 00032 00034 class ContactParams 00035 { 00037 public: ContactParams(); 00038 00040 public: double kp; 00041 00043 public: double kd; 00044 00046 public: double bounce; 00047 00049 public: double mu1; 00050 00052 public: double mu2; 00053 00055 public: double slip1; 00056 00058 public: double slip2; 00059 00061 public: double bounceVel; 00062 00064 public: double softCfm; 00065 }; 00066 00067 } 00068 #endif