raisim::GranularPoolSleepController::Options

struct · #include <raisim/object/granular/GranularPoolSleepController.hpp>

Controller parameters. All distances and thresholds must be finite and nonnegative.

Public attributes

policy

Policy policy

Sleep policy.

halo

double halo

Distance added to WakeSphere::radius when testing whether a grain center is within reach (m).

speedThreshold

double speedThreshold

Linear speed below which a grain counts as quiet (m/s); it must also be below angularSpeedThreshold.

angularSpeedThreshold

double angularSpeedThreshold

Angular speed below which a grain counts as quiet (rad/s).

quietSteps

unsigned quietSteps

Consecutive quiet updates before a grain sleeps (QUIET policy).

extraWakeDistance

double extraWakeDistance

Extra wake reach for the WAKE_ONCE policy (m).

keepAboveZ

std::optional<double> keepAboveZ

If set, grains whose center z is at or above this value (m) are kept awake.