Struct StatePropagator::SpOptions

Struct StatePropagator::SpOptions#

Nested Relationships#

This struct is a nested type of Class StatePropagator.

Struct Documentation#

struct SpOptions#

Options for the state propagator.

Public Members

km::Ktime max_step_size = km::Ktime(0)#

Define the step size that advanceTo() should use to break up the overall time advancement into sub-steps. This is especially useful for fixed-step integrators to ensure that integrator steps are not too large. Also for cases where external interactions and data logging needs to be done at fixed step intervals.

bool update_state_derivatives_hop_end = false#

If true, then update the multibody state derivatives with the integrator states at the end of each hop.

double baumgarte_stiffness = -1#

the Baumgarte stiffness parameter

Options specific for the selected integrator Parameters for the Baumgarte method for loop constraint stabilization

double baumgarte_damping = -1#

the Baumgarte damping parameter

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