options.h

 
#ifndef SPATIAL_DYN_STRUCTS_OPTIONS_H_
#define SPATIAL_DYN_STRUCTS_OPTIONS_H_
 
#include <cstddef>  // size_t
 
namespace spatial_dyn {
 
struct InverseDynamicsOptions;
struct ForwardDynamicsOptions;
struct IntegrationOptions;
 
namespace opspace {
 
struct InverseDynamicsOptions;
 
}  // namespace opspace
 
namespace discrete {
 
struct InverseDynamicsOptions;
struct IntegrationOptions;
 
}  // namespace discrete
 
struct InverseDynamicsOptions {
 
  InverseDynamicsOptions(bool gravity = true, bool centrifugal_coriolis = false,
                         bool friction = false, double stiction_epsilon = 0.01)
      : gravity(gravity), centrifugal_coriolis(centrifugal_coriolis),
        friction(friction), stiction_epsilon(stiction_epsilon) {}
 
  InverseDynamicsOptions(const ForwardDynamicsOptions& other);
 
  InverseDynamicsOptions(const IntegrationOptions& other);
 
  bool gravity = true;
 
  bool centrifugal_coriolis = false;
 
  bool friction = false;
 
  double stiction_epsilon = 0.01;
 
};
 
struct ForwardDynamicsOptions /*: InverseDynamicsOptions*/ {
 
  ForwardDynamicsOptions(bool gravity = true, bool centrifugal_coriolis = true,
                         bool friction = false, double stiction_epsilon = 0.01)
      : gravity(gravity), centrifugal_coriolis(centrifugal_coriolis),
        friction(friction), stiction_epsilon(stiction_epsilon) {}
 
  ForwardDynamicsOptions(const IntegrationOptions& other);
 
  ForwardDynamicsOptions(const discrete::IntegrationOptions& other);
 
  bool gravity = true;
 
  bool centrifugal_coriolis = true;
 
  bool friction = false;
 
  double stiction_epsilon = 0.01;
 
};
 
struct IntegrationOptions /*: ForwardDynamicsOptions*/ {
 
  enum class Method {
    kEuler,  
    kHeuns,  
    kRk4     
  };
 
  IntegrationOptions(bool gravity = true, bool centrifugal_coriolis = true,
                     bool friction = false, bool joint_limits = false,
                     Method method = Method::kRk4, bool aba = false,
                     double stiction_epsilon = 0.01)
      : gravity(gravity), centrifugal_coriolis(centrifugal_coriolis),
        friction(friction), joint_limits(joint_limits), method(method),
        aba(aba), stiction_epsilon(stiction_epsilon) {}
 
  bool gravity = true;
 
  bool centrifugal_coriolis = true;
 
  bool friction = false;
 
  bool joint_limits = false;
 
  Method method = Method::kRk4;
 
  bool aba = false;
 
  double stiction_epsilon = 0.01;
 
};
 
namespace opspace {
 
struct InverseDynamicsOptions {
 
  InverseDynamicsOptions(bool gravity = false, bool centrifugal_coriolis = false,
                         bool friction = false, double svd_epsilon = 0.,
                         double stiction_epsilon = 0.01)
      : gravity(gravity), centrifugal_coriolis(centrifugal_coriolis),
        friction(friction), svd_epsilon(svd_epsilon),
        stiction_epsilon(stiction_epsilon) {}
 
  bool gravity = false;
 
  bool centrifugal_coriolis = false;
 
  bool friction = false;
 
  double svd_epsilon = 0.;
 
  double stiction_epsilon = 0.01;
 
  double f_acc_max = 0.;
 
};
 
}  // namespace opspace
 
namespace discrete {
 
struct InverseDynamicsOptions {
 
  InverseDynamicsOptions(bool gravity = true)
      : gravity(gravity) {}
 
  InverseDynamicsOptions(const discrete::IntegrationOptions& other);
 
  bool gravity = true;
 
};
 
struct IntegrationOptions {
 
  IntegrationOptions(bool gravity = true)
      : gravity(gravity) {}
 
  bool gravity = true;
 
  double variational_epsilon = 1e-8;
 
  size_t max_iterations = 100;
 
};
 
}  // namespace discrete
 
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_STRUCTS_OPTIONS_H_