spatial_dyn::IntegrationOptions Struct Reference

Public Types
enum class	Method { kEuler , kHeuns , kRk4 }

Public Member Functions
	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)

Public Attributes
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

Member Enumeration Documentation

Method

enum spatial_dyn::IntegrationOptions::Method

strong

Integration methods.

Enumerator
kEuler	Euler's method (order 1).
kHeuns	Heun's method (order 2).
kRk4	Runge-Kutta 4 (order 4).

Member Data Documentation

aba

bool spatial_dyn::IntegrationOptions::aba = false

Use spatial_dyn::ForwardDynamicsAba(). If false, uses spatial_dyn::ForwardDynamics().

centrifugal_coriolis

bool spatial_dyn::IntegrationOptions::centrifugal_coriolis = true

Include centrifugal/Coriolis torques.

friction

bool spatial_dyn::IntegrationOptions::friction = false

Include Coulomb and viscous friction torques at the joints.

gravity

bool spatial_dyn::IntegrationOptions::gravity = true

Include gravity torques.

joint_limits

bool spatial_dyn::IntegrationOptions::joint_limits = false

Enforce joint limits.

method

Method spatial_dyn::IntegrationOptions::method = Method::kRk4

Integration method.

stiction_epsilon

double spatial_dyn::IntegrationOptions::stiction_epsilon = 0.01

Velocity threshold for stiction activation.

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

• /home/runner/work/spatial-dyn/spatial-dyn/include/spatial_dyn/structs/options.h