Revision: 7129
http://playerstage.svn.sourceforge.net/playerstage/?rev=7129&view=rev
Author: natepak
Date: 2008-11-12 19:38:15 +0000 (Wed, 12 Nov 2008)
Log Message:
-----------
Moved SuspensionCfmP from Joint to Hinge2Joint
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Hinge2Joint.cc
code/gazebo/trunk/server/physics/Hinge2Joint.hh
code/gazebo/trunk/server/physics/Joint.cc
code/gazebo/trunk/server/physics/Joint.hh
Modified: code/gazebo/trunk/server/physics/Hinge2Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Hinge2Joint.cc 2008-11-12 19:37:09 UTC
(rev 7128)
+++ code/gazebo/trunk/server/physics/Hinge2Joint.cc 2008-11-12 19:38:15 UTC
(rev 7129)
@@ -45,6 +45,7 @@
this->hiStop1P = new ParamT<Angle>("highStop1",M_PI,0);
this->loStop2P = new ParamT<Angle>("lowStop2",-M_PI,0);
this->hiStop2P = new ParamT<Angle>("highStop2",M_PI,0);
+ this->suspensionCfmP = new ParamT<double>("suspensionCfm",0.0,0);
Param::End();
}
@@ -59,6 +60,7 @@
delete this->hiStop1P;
delete this->loStop2P;
delete this->hiStop2P;
+ delete this->suspensionCfmP;
}
//////////////////////////////////////////////////////////////////////////////
@@ -71,6 +73,7 @@
this->hiStop1P->Load(node);
this->loStop2P->Load(node);
this->hiStop2P->Load(node);
+ this->suspensionCfmP->Load(node);
this->SetAxis1(**(this->axis1P));
this->SetAxis2(**(this->axis2P));
@@ -86,6 +89,9 @@
this->SetParam(dParamHiStop2, this->hiStop2P->GetValue().GetAsRadian());
this->SetParam(dParamLoStop2, this->loStop2P->GetValue().GetAsRadian());
this->SetParam(dParamHiStop2, this->hiStop2P->GetValue().GetAsRadian());
+
+ // Suspension CFM is only valid for Hinge2 joints
+ this->SetParam(dParamSuspensionCFM, **(this->suspensionCfmP));
}
//////////////////////////////////////////////////////////////////////////////
@@ -99,6 +105,8 @@
stream << prefix << *(this->axis2P) << "\n";
stream << prefix << *(this->loStop2P) << "\n";
stream << prefix << *(this->hiStop2P) << "\n";
+
+ stream << prefix << " " << *(this->suspensionCfmP) << "\n";
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/Hinge2Joint.hh
===================================================================
--- code/gazebo/trunk/server/physics/Hinge2Joint.hh 2008-11-12 19:37:09 UTC
(rev 7128)
+++ code/gazebo/trunk/server/physics/Hinge2Joint.hh 2008-11-12 19:38:15 UTC
(rev 7129)
@@ -154,6 +154,8 @@
private: ParamT<Vector3> *axis2P;
private: ParamT<Angle> *loStop2P;
private: ParamT<Angle> *hiStop2P;
+
+ private: ParamT<double> *suspensionCfmP;
};
/// \}
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2008-11-12 19:37:09 UTC (rev
7128)
+++ code/gazebo/trunk/server/physics/Joint.cc 2008-11-12 19:38:15 UTC (rev
7129)
@@ -44,12 +44,12 @@
Param::Begin(&this->parameters);
this->erpP = new ParamT<double>("erp",0.4,0);
this->cfmP = new ParamT<double>("cfm",10e-3,0);
- this->suspensionCfmP = new ParamT<double>("suspensionCfm",0.0,0);
this->body1NameP = new ParamT<std::string>("body1",std::string(),1);
this->body2NameP = new ParamT<std::string>("body2",std::string(),1);
this->anchorBodyNameP = new ParamT<std::string>("anchor",std::string(),0);
this->anchorOffsetP = new ParamT<Vector3>("anchorOffset",Vector3(0,0,0), 0);
this->provideFeedbackP = new ParamT<bool>("provideFeedback", false, 0);
+ this->fudgeFactorP = new ParamT<double>( "fudgeFactor", 1.0, 0 );
Param::End();
}
@@ -61,12 +61,12 @@
dJointDestroy( this->jointId );
delete this->erpP;
delete this->cfmP;
- delete this->suspensionCfmP;
delete this->body1NameP;
delete this->body2NameP;
delete this->anchorBodyNameP;
delete this->anchorOffsetP;
delete this->provideFeedbackP;
+ delete this->fudgeFactorP;
}
@@ -90,8 +90,8 @@
this->anchorOffsetP->Load(node);
this->erpP->Load(node);
this->cfmP->Load(node);
- this->suspensionCfmP->Load(node);
this->provideFeedbackP->Load(node);
+ this->fudgeFactorP->Load(node);
Body *body1 = this->model->GetBody( **(this->body1NameP));
Body *body2 = this->model->GetBody(**(this->body2NameP));
@@ -107,8 +107,11 @@
// Set joint parameters
this->SetParam(dParamSuspensionERP, **(this->erpP));
- this->SetParam(dParamSuspensionCFM, **(this->suspensionCfmP));
this->SetParam(dParamCFM, **(this->cfmP));
+ this->SetParam(dParamFudgeFactor, **(this->fudgeFactorP));
+ this->SetParam(dParamVel,0);
+ this->SetParam(dParamFMax,0);
+ this->SetParam(dParamBounce, 0);
this->Attach(body1,body2);
@@ -169,7 +172,7 @@
stream << prefix << " " << *(this->erpP) << "\n";
stream << prefix << " " << *(this->cfmP) << "\n";
- stream << prefix << " " << *(this->suspensionCfmP) << "\n";
+ stream << prefix << " " << *(this->fudgeFactorP) << "\n";
std::string p = prefix + " ";
this->SaveChild(p,stream);
Modified: code/gazebo/trunk/server/physics/Joint.hh
===================================================================
--- code/gazebo/trunk/server/physics/Joint.hh 2008-11-12 19:37:09 UTC (rev
7128)
+++ code/gazebo/trunk/server/physics/Joint.hh 2008-11-12 19:38:15 UTC (rev
7129)
@@ -156,12 +156,12 @@
/// Name of this joint
private: ParamT<double> *erpP;
private: ParamT<double> *cfmP;
- private: ParamT<double> *suspensionCfmP;
private: ParamT<std::string> *body1NameP;
private: ParamT<std::string> *body2NameP;
private: ParamT<std::string> *anchorBodyNameP;
private: ParamT<Vector3> *anchorOffsetP;
private: ParamT<bool> *provideFeedbackP;
+ private: ParamT<double> *fudgeFactorP;
/// Feedback data for this joint
private: dJointFeedback *feedback;
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