spatial-dyn
Public Member Functions | Public Attributes | List of all members
spatial_dyn::ForwardDynamicsOptions Struct Reference
C++ » Algorithms » Forward Dynamics

#include <options.h>

Public Member Functions

 ForwardDynamicsOptions (bool gravity=true, bool centrifugal_coriolis=true, bool friction=false, double stiction_epsilon=0.01)
 
 ForwardDynamicsOptions (const IntegrationOptions &other)
 
 ForwardDynamicsOptions (const discrete::IntegrationOptions &other)
 

Public Attributes

bool gravity = true
 
bool centrifugal_coriolis = true
 
bool friction = false
 
double stiction_epsilon = 0.01
 

Detailed Description

Options for spatial_dyn::ForwardDynamics().

Member Data Documentation

◆ centrifugal_coriolis

bool spatial_dyn::ForwardDynamicsOptions::centrifugal_coriolis = true

Include centrifugal/Coriolis torques.

◆ friction

bool spatial_dyn::ForwardDynamicsOptions::friction = false

Include Coulomb and viscous friction torques at the joints.

◆ gravity

bool spatial_dyn::ForwardDynamicsOptions::gravity = true

Include gravity torques.

◆ stiction_epsilon

double spatial_dyn::ForwardDynamicsOptions::stiction_epsilon = 0.01

Velocity threshold for stiction activation.

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