32 #include <yarp/os/ResourceFinder.h>
33 #include <yarp/os/Bottle.h>
42 using namespace yarp::os;
55 std::string configure(
int argc,
char *argv[], std::string &moduleName,
int &
verbosity);
66 return moduleName.c_str();
107 return p.maxContactCorrectingVel;
111 return p.contactFrictionCoefficient;
115 return p.contactSurfaceLayer;
119 return p.motorMaxTorque;
123 return p.motorDryFriction;
127 return p.jointStopBouncyness;
131 return p.worldTimestep;
140 std::string moduleName;
148 void readOdeParams(){
149 if(odeParamRead==
true)
153 bParams.fromConfigFile(findFile(find(
"ode").asString().c_str()).c_str());
154 Bottle &bParamWorld = bParams.findGroup(
"WORLD");
155 Bottle &bParamContacts = bParams.findGroup(
"CONTACTS");
156 Bottle &bParamJoints = bParams.findGroup(
"JOINTS");
158 p.worldTimestep = bParamWorld.check(
"timestep", Value(10)).asInt32();
159 p.worldCFM = bParamWorld.check(
"worldCFM", Value(0.00001)).asFloat64();
160 p.worldERP = bParamWorld.check(
"worldERP", Value(0.2)).asFloat64();
162 p.maxContactCorrectingVel = bParamContacts.check(
"maxContactCorrectingVel", Value(1e6)).asFloat64();
163 p.contactFrictionCoefficient = bParamContacts.check(
"contactFrictionCoefficient",Value(1.0)).asFloat64();
164 p.contactSurfaceLayer = bParamContacts.check(
"contactSurfaceLayer", Value(0.0)).asFloat64();
166 p.fudgeFactor = bParamJoints.check(
"fudgeFactor", Value(0.02)).asFloat64();
167 p.jointCFM = bParamJoints.check(
"jointCFM", Value(1
e-5)).asFloat64();
168 p.stopCFM = bParamJoints.check(
"stopCFM", Value(1
e-5)).asFloat64();
169 p.stopERP = bParamJoints.check(
"stopERP", Value(0.2)).asFloat64();
170 p.motorMaxTorque = bParamJoints.check(
"motorMaxTorque", Value(1e3)).asFloat64();
171 p.motorDryFriction = bParamJoints.check(
"motorDryFriction", Value(0.1)).asFloat64();
172 p.jointStopBouncyness = bParamJoints.check(
"jointStopBouncyness", Value(0.1)).asFloat64();
virtual double getJointCFM()
virtual double getContactSurfaceLayer()
virtual int getWorldTimestep()
virtual double getStopERP()
virtual double getFudgeFactor()
virtual double getMaxContactCorrectingVel()
virtual double getWorldERP()
virtual double getMotorDryFriction()
virtual double getJointStopBouncyness()
virtual int getVerbosity()
virtual double getStopCFM()
virtual double getMotorMaxTorque()
virtual std::string getModuleName()
virtual double getWorldCFM()
virtual double getContactFrictionCoefficient()
virtual OdeParams getOdeParameters()
virtual yarp::os::ResourceFinder & getFinder()