RobotModelConfig.hpp

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#ifndef WBC_CORE_ROBOTMODELCONFIG_HPP
#define WBC_CORE_ROBOTMODELCONFIG_HPP
 
#include <vector>
#include "../types/Contact.hpp"
 
namespace wbc{
    

struct RobotModelConfig{
public:
    RobotModelConfig() :
        floating_base(false),
        velocity_filter_cutoff_freq(0.),
        velocity_filter_sample_time(0.){
    }
    RobotModelConfig(const std::string& file_or_string,
                     const bool floating_base = false,
                     const std::vector<types::Contact> &contact_points = std::vector<types::Contact>(),
                     const std::string& submechanism_file = "",
                     const std::vector<std::string> &joint_blacklist = std::vector<std::string>()) :
        file_or_string(file_or_string),
        submechanism_file(submechanism_file),
        floating_base(floating_base),
        contact_points(contact_points),
        joint_blacklist(joint_blacklist),
        velocity_filter_cutoff_freq(0.),
        velocity_filter_sample_time(0.){
 
    }

    std::string file_or_string;
    std::string submechanism_file;
    bool floating_base;
    std::vector<types::Contact> contact_points;
    std::vector<std::string> joint_blacklist;
    std::vector<double> max_joint_acceleration;
    double velocity_filter_cutoff_freq;
    double velocity_filter_sample_time;
    
};
 
}
#endif // WBC_CORE_ROBOTMODELCONFIG_HPP