#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...

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

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

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, double >	model_maximum_torque
	Maximum torque limits per joint read from model.

ImuUncertainty	imu_uncertainty
	Uncertainty on IMU measurements.

Eigen::VectorXd	joint_configuration
	Initial joint configuration vector.

Detailed Description

Interface parameters.

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

Public Member Functions