DART
6.10.1
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#include <Option.hpp>
Public Member Functions | |
Option ()=default | |
double | getTimestep () const |
double | getApiRate () const |
double | getImpRatio () const |
const Eigen::Vector3d & | getGravity () const |
const Eigen::Vector3d & | getWind () const |
const Eigen::Vector3d & | getMagnetic () const |
double | getDensity () const |
double | getViscosity () const |
Integrator | getIntegrator () const |
CollisionType | getCollision () const |
ConeType | getCone () const |
JacobianType | getJacobian () const |
SolverType | getSolver () const |
int | getIterations () const |
double | getTolerance () const |
int | getNoSlipIterations () const |
double | getNoSlipTolerance () const |
int | getMprIterations () const |
double | getMprTolerance () const |
Private Member Functions | |
Errors | read (tinyxml2::XMLElement *element) |
Private Attributes | |
double | mTimestep {0.002} |
double | mApiRate {100} |
double | mImpRatio {1} |
Eigen::Vector3d | mGravity {Eigen::Vector3d(0, 0, -9.81)} |
Eigen::Vector3d | mWind {Eigen::Vector3d::Zero()} |
Eigen::Vector3d | mMagnetic {Eigen::Vector3d(0, -0.5, 0)} |
double | mDensity {0} |
double | mViscosity {0} |
Integrator | mIntegrator {Integrator::EULER} |
CollisionType | mCollision {CollisionType::ALL} |
ConeType | mCone {ConeType::PYRAMIDAL} |
JacobianType | mJacobian {JacobianType::AUTO} |
SolverType | mSolver {SolverType::NEWTON} |
int | mIterations {100} |
double | mTolerance {1e-8} |
int | mNoSlipIterations {0} |
double | mNoSlipTolerance {1e-6} |
int | mMprIterations {50} |
double | mMprTolerance {1e-6} |
Friends | |
class | MujocoModel |
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default |
double dart::utils::MjcfParser::detail::Option::getApiRate | ( | ) | const |
CollisionType dart::utils::MjcfParser::detail::Option::getCollision | ( | ) | const |
ConeType dart::utils::MjcfParser::detail::Option::getCone | ( | ) | const |
double dart::utils::MjcfParser::detail::Option::getDensity | ( | ) | const |
const Eigen::Vector3d & dart::utils::MjcfParser::detail::Option::getGravity | ( | ) | const |
double dart::utils::MjcfParser::detail::Option::getImpRatio | ( | ) | const |
Integrator dart::utils::MjcfParser::detail::Option::getIntegrator | ( | ) | const |
int dart::utils::MjcfParser::detail::Option::getIterations | ( | ) | const |
JacobianType dart::utils::MjcfParser::detail::Option::getJacobian | ( | ) | const |
const Eigen::Vector3d & dart::utils::MjcfParser::detail::Option::getMagnetic | ( | ) | const |
int dart::utils::MjcfParser::detail::Option::getMprIterations | ( | ) | const |
double dart::utils::MjcfParser::detail::Option::getMprTolerance | ( | ) | const |
int dart::utils::MjcfParser::detail::Option::getNoSlipIterations | ( | ) | const |
double dart::utils::MjcfParser::detail::Option::getNoSlipTolerance | ( | ) | const |
SolverType dart::utils::MjcfParser::detail::Option::getSolver | ( | ) | const |
double dart::utils::MjcfParser::detail::Option::getTimestep | ( | ) | const |
double dart::utils::MjcfParser::detail::Option::getTolerance | ( | ) | const |
double dart::utils::MjcfParser::detail::Option::getViscosity | ( | ) | const |
const Eigen::Vector3d & dart::utils::MjcfParser::detail::Option::getWind | ( | ) | const |
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