Class ModelManager::MMOptions

Class ModelManager::MMOptions#

Nested Relationships#

This class is a nested type of Class ModelManager.

Inheritance Relationships#

Base Type#

  • public std::enable_shared_from_this< MMOptions >

Derived Type#

Class Documentation#

class MMOptions : public std::enable_shared_from_this<MMOptions>

Options for the model manager.

Subclassed by Karana::Dynamics::StatePropagator::SpOptions

Public Functions

MMOptions()

MMOptions constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

virtual ~MMOptions()

Destructor.

Public Members

double baumgarte_alpha = -1

the Baumgarte damping coefficient

Parameters for the Baumgarte method for loop constraint stabilization for the error dynamics \(\ddot e + 2\alpha \dot e + \beta^2 e = 0\). Baumgarte stabilization is enabled in TA closed-chain dynamics when the stiffness and damping coefficients are both positive.

double baumgarte_beta = -1

the Baumgarte stiffness coefficient

Public Static Functions

static kc::ks_ptr<MMOptions> create()

Create an instance of MMOptions.

Returns:

A pointer to the newly created MMOptions.

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