DARTSurfaceParams Class Reference

Data structure containing DART surface parameters. More...

#include <DARTSurfaceParams.hh>

Inherits SurfaceParams.

Public Member Functions

 DARTSurfaceParams ()
 Constructor. More...
 
virtual ~DARTSurfaceParams ()
 Destructor. More...
 
virtual void FillMsg (msgs::Surface &_msg)
 Fill in a surface message. More...
 
virtual FrictionPyramidPtr FrictionPyramid () const
 Get access to FrictionPyramid data, if available. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load the contact params. More...
 
virtual void ProcessMsg (const msgs::Surface &_msg)
 Process a surface message. More...
 

Public Attributes

unsigned int collideBitmask
 Custom collision filtering. More...
 
bool collideWithoutContact
 Allow collision checking without generating a contact joint. More...
 
unsigned int collideWithoutContactBitmask
 Custom collision filtering used when collideWithoutContact is true. More...
 

Detailed Description

Data structure containing DART surface parameters.

Updating the parameters in this class doesn't update the actual DART objects.

Constructor & Destructor Documentation

◆ DARTSurfaceParams()

Constructor.

◆ ~DARTSurfaceParams()

virtual ~DARTSurfaceParams ( )
virtual

Destructor.

Member Function Documentation

◆ FillMsg()

virtual void FillMsg ( msgs::Surface &  _msg)
virtual

Fill in a surface message.

Parameters
[in]_msgMessage to fill with this object's values.

Reimplemented from SurfaceParams.

◆ FrictionPyramid()

virtual FrictionPyramidPtr FrictionPyramid ( ) const
virtual

Get access to FrictionPyramid data, if available.

Returns
Pointer to FrictionPyramid data or NULL if class does not use FrictionPyramid data.

Reimplemented from SurfaceParams.

◆ Load()

virtual void Load ( sdf::ElementPtr  _sdf)
virtual

Load the contact params.

Parameters
[in]_sdfSDF values to load from.

Reimplemented from SurfaceParams.

◆ ProcessMsg()

virtual void ProcessMsg ( const msgs::Surface &  _msg)
virtual

Process a surface message.

Parameters
[in]_msgMessage to read values from.

Reimplemented from SurfaceParams.

Member Data Documentation

◆ collideBitmask

unsigned int collideBitmask
inherited

Custom collision filtering.

Will override collideWithoutContact.

◆ collideWithoutContact

bool collideWithoutContact
inherited

Allow collision checking without generating a contact joint.

◆ collideWithoutContactBitmask

unsigned int collideWithoutContactBitmask
inherited

Custom collision filtering used when collideWithoutContact is true.


The documentation for this class was generated from the following file: