sobec::ModelMakerSettings Struct Reference

#include <sobec/walk-with-traj/model_factory.hpp>

Public Attributes

double timeStep = 0.01
 
eVector3 gravity = eVector3(0, 0, -9.81)
 
double footSize = 0.05
 
double mu = 0.3
 
eVector2 coneBox = eVector2(0.1, 0.05)
 
double minNforce = 200.0
 
double maxNforce = 1200
 
double comHeight = 0.87
 
double omega = -comHeight / gravity(2)
 
double wFootPlacement = 0
 
double wStateReg = 0
 
double wControlReg = 0
 
double wLimit = 0
 
double wVCoM = 0
 
double wWrenchCone = 0
 
double wFootTrans = 0
 
double wFootXYTrans = 0
 
double wFootRot = 0
 
double wGroundCol = 0
 
double wCoP = 0
 
Eigen::VectorXd stateWeights
 
Eigen::VectorXd controlWeights
 
double th_stop = 1e-6
 
double th_grad = 1e-9
 

Member Data Documentation

◆ comHeight

double sobec::ModelMakerSettings::comHeight = 0.87

◆ coneBox

eVector2 sobec::ModelMakerSettings::coneBox = eVector2(0.1, 0.05)

◆ controlWeights

Eigen::VectorXd sobec::ModelMakerSettings::controlWeights

◆ footSize

double sobec::ModelMakerSettings::footSize = 0.05

◆ gravity

eVector3 sobec::ModelMakerSettings::gravity = eVector3(0, 0, -9.81)

◆ maxNforce

double sobec::ModelMakerSettings::maxNforce = 1200

◆ minNforce

double sobec::ModelMakerSettings::minNforce = 200.0

◆ mu

double sobec::ModelMakerSettings::mu = 0.3

◆ omega

double sobec::ModelMakerSettings::omega = -comHeight / gravity(2)

◆ stateWeights

Eigen::VectorXd sobec::ModelMakerSettings::stateWeights

◆ th_grad

double sobec::ModelMakerSettings::th_grad = 1e-9

◆ th_stop

double sobec::ModelMakerSettings::th_stop = 1e-6

◆ timeStep

double sobec::ModelMakerSettings::timeStep = 0.01

◆ wControlReg

double sobec::ModelMakerSettings::wControlReg = 0

◆ wCoP

double sobec::ModelMakerSettings::wCoP = 0

◆ wFootPlacement

double sobec::ModelMakerSettings::wFootPlacement = 0

◆ wFootRot

double sobec::ModelMakerSettings::wFootRot = 0

◆ wFootTrans

double sobec::ModelMakerSettings::wFootTrans = 0

◆ wFootXYTrans

double sobec::ModelMakerSettings::wFootXYTrans = 0

◆ wGroundCol

double sobec::ModelMakerSettings::wGroundCol = 0

◆ wLimit

double sobec::ModelMakerSettings::wLimit = 0

◆ wStateReg

double sobec::ModelMakerSettings::wStateReg = 0

◆ wVCoM

double sobec::ModelMakerSettings::wVCoM = 0

◆ wWrenchCone

double sobec::ModelMakerSettings::wWrenchCone = 0

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