File robotDescription.h

Enums

enum numerical_integration_scheme

Values:

enumerator FORWARD_EULER

enumerator VERLET_POSITION

enumerator BACKWARD_EULER

enumerator IMPLICIT_MIDPOINT

Functions

void get_robot_description(int argc, char **argv, const shared_ptr<softRobots> &soft_robots, const shared_ptr<forceContainer> &forces, shared_ptr<worldLogger> &logger, simParams &sim_params)

struct simParams

Public Members

double sim_time = 10

double dt = 1e-3

bool render = true

bool show_mat_frames = false

double render_scale = 1.0

double dtol = 1e-2

double ftol = 1e-4

int max_iter = 500

int adaptive_time_stepping = 0

int cmd_line_per = 1

bool enable_2d_sim = false

bool line_search = true

numerical_integration_scheme nis = BACKWARD_EULER 

int debug_verbosity = 1