Interface parameters. More...

#include <BulletInterface.h>

Public Member Functions
	Parameters ()=default
	Keep default constructor.

	Parameters (const Dictionary &config)
	Initialize from global configuration. More...

void	configure (const Dictionary &config)
	Configure from dictionary. More...

Public Attributes
std::string	argv0 = ""
	Value of argv[0] used to locate runfiles (e.g. More...

std::map< std::string, std::map< std::string, std::vector< std::string > > >	monitor_contacts
	Contacts to monitor and report along with observations.

double	dt = std::numeric_limits<double>::quiet_NaN()
	Simulation timestep in [s].

bool	follower_camera = false
	Translate the camera to follow the robot.

double	inertia_randomization = 0.0
	Mass randomization epsilon.

bool	gravity = true
	If true, set gravity to -9.81 m/s².

bool	floor = true
	If true, load a floor plane.

bool	gui = false
	If true, fire up the graphical user interface.

std::string	robot_urdf_path
	Path to the URDF model of the robot. More...

std::vector< std::string >	env_urdf_paths
	Paths to environment URDFs to load.

double	torque_control_kd = 1.0
	Gain for joint velocity control feedback.

double	torque_control_kp = 20.0
	Gain for joint position control feedback.

Eigen::Vector3d	position_base_in_world = Eigen::Vector3d::Zero()
	Position of the base in the world frame upon reset.

Eigen::Quaterniond	orientation_base_in_world
	Orientation of the base in the world frame upon reset. More...

Eigen::Vector3d	linear_velocity_base_to_world_in_world
	Linear velocity of the base in the world frame upon reset. More...

Eigen::Vector3d	angular_velocity_base_in_base = Eigen::Vector3d::Zero()
	Body angular velocity of the base upon reset.

std::map< std::string, bullet::JointProperties >	joint_properties
	Joint friction parameters.

ImuUncertainty	imu_uncertainty
	Uncertainty on IMU measurements.

Eigen::VectorXd	joint_configuration
	Initial joint configuration vector.

Detailed Description

Interface parameters.

Constructor & Destructor Documentation

◆ Parameters()

upkie::cpp::actuation::BulletInterface::Parameters::Parameters ( const Dictionary & config )

inlineexplicit

Initialize from global configuration.

Parameters

[in] config Global configuration dictionary.

Member Function Documentation

◆ configure()

void upkie::cpp::actuation::BulletInterface::Parameters::configure ( const Dictionary & config )

inline

Configure from dictionary.

Parameters

[in] config Global configuration dictionary.

Member Data Documentation

◆ argv0

std::string upkie::cpp::actuation::BulletInterface::Parameters::argv0 = ""

Value of argv[0] used to locate runfiles (e.g.

plane.urdf) in Bazel.

This value helps find runfiles because Bazel does not seem to set the RUNFILES_MANIFEST_FILE environment variable from cc_binary rules, although in a similar context it does set it from py_binary rules that depend on "@rules_python//python/runfiles". When RUNFILES_MANIFEST_FILE is unset, knowing argv[0] triggers an alternative way to find runfiles.

The following issues are related:

https://github.com/bazelbuild/bazel/issues/4586 https://github.com/bazelbuild/bazel/issues/7994

◆ linear_velocity_base_to_world_in_world

Eigen::Vector3d upkie::cpp::actuation::BulletInterface::Parameters::linear_velocity_base_to_world_in_world

Initial value:

=

Eigen::Vector3d::Zero()

Linear velocity of the base in the world frame upon reset.

◆ orientation_base_in_world

Eigen::Quaterniond upkie::cpp::actuation::BulletInterface::Parameters::orientation_base_in_world

Initial value:

=

Eigen::Quaterniond::Identity()

Orientation of the base in the world frame upon reset.

◆ robot_urdf_path

std::string upkie::cpp::actuation::BulletInterface::Parameters::robot_urdf_path

Path to the URDF model of the robot.

A path from the root of the Bazel workspace works. For instance, use "models/upkie_description/urdf/upkie.urdf" to load the URDF from Bazel data such as data = ["//models/upkie_description"].

For external targets, add the "external/" prefix. For instance, use "external/upkie_description/urdf/upkie.urdf" to load the URDF from Bazel data loaded from a dependency: data = ["@upkie_description"].

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

upkie/cpp/actuation/BulletInterface.h

Public Member Functions

Public Attributes