spatial_dyn::opspace::InverseDynamicsOptions Struct Reference

Public Member Functions
	InverseDynamicsOptions (bool gravity=false, bool centrifugal_coriolis=false, bool friction=false, double svd_epsilon=0., double stiction_epsilon=0.01)

Public Attributes
bool	gravity = false
bool	centrifugal_coriolis = false
bool	friction = false
double	svd_epsilon = 0.
double	stiction_epsilon = 0.01
double	f_acc_max = 0.

Member Data Documentation

centrifugal_coriolis

bool spatial_dyn::opspace::InverseDynamicsOptions::centrifugal_coriolis = false

Include centrifugal/Coriolis torques.

f_acc_max

double spatial_dyn::opspace::InverseDynamicsOptions::f_acc_max = 0.

Maximum force due to acceleration (F = Lambda * ddx). Forces above the limit will scaled. If f_acc_max is 0, no clipping will occur.

friction

bool spatial_dyn::opspace::InverseDynamicsOptions::friction = false

Include Coulomb and viscous friction torques at the joints.

gravity

bool spatial_dyn::opspace::InverseDynamicsOptions::gravity = false

Include gravity torques.

stiction_epsilon

double spatial_dyn::opspace::InverseDynamicsOptions::stiction_epsilon = 0.01

Velocity threshold for stiction activation.

svd_epsilon

double spatial_dyn::opspace::InverseDynamicsOptions::svd_epsilon = 0.

Threshold for singular value inversion in the computation of Lambda.

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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