FiberPrintPARM.h
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1 /*
2 * ==========================================================================
3 * This file is part of the implementation of
4 *
5 * <FrameFab: Robotic Fabrication of Frame Shapes>
6 * Yijiang Huang, Juyong Zhang, Xin Hu, Guoxian Song, Zhongyuan Liu, Lei Yu, Ligang Liu
7 * In ACM Transactions on Graphics (Proc. SIGGRAPH Asia 2016)
8 ----------------------------------------------------------------------------
9 * class: FiberPrintPARM
10 *
11 * Description: FiberPrintPARM takes charge of computation related parameters configuration.
12 *
13 * Version: 2.0
14 * Created: Oct/10/2015
15 * Updated: Aug/24/2016
16 *
17 * Author: Xin Hu, Yijiang Huang, Guoxian Song
18 * Company: GCL@USTC
19 
20 ----------------------------------------------------------------------------
21 * Copyright (C) 2016 Yijiang Huang, Xin Hu, Guoxian Song, Juyong Zhang
22 * and Ligang Liu.
23 *
24 * FrameFab is free software: you can redistribute it and/or modify
25 * it under the terms of the GNU General Public License as published by
26 * the Free Software Foundation, either version 3 of the License, or
27 * (at your option) any later version.
28 *
29 * FrameFab is distributed in the hope that it will be useful,
30 * but WITHOUT ANY WARRANTY; without even the implied warranty of
31 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
32 * GNU General Public License for more details.
33 *
34 * You should have received a copy of the GNU General Public License
35 * along with FrameFab. If not, see <http://www.gnu.org/licenses/>.
36 * ==========================================================================
37 */
38 
39 #ifndef FRAMEFAB_TASK_SEQUENCE_PLANNER_FIBERPRIN_PARM_H
40 #define FRAMEFAB_TASK_SEQUENCE_PLANNER_FIBERPRIN_PARM_H
41 
42 #include "choreo_task_sequence_planner/utils/GCommon.h"
43 
44 class FiberPrintPARM
45 {
46  public:
47  FiberPrintPARM(
48  double Wp = 1.0,
49  double Wa = 1.0,
50  double Wi = 5.0,
51  double seq_D_tol = 2.0,
52  double ADMM_D_tol = 1.0,
53  double penalty = 1e2,
54  double pri_tol = 1e-2,
55  double dual_tol = 1e-2,
56  double radius = 0.75,
57  double density = 1210 * 1e-12,
58  double g = -9806.3,
59  double youngs_modulus = 3457,
60  double shear_modulus = 1294,
61  double poisson_ratio = 0.335
62  );
63 
64  ~FiberPrintPARM();
65 
66  public:
67  // material & environment
68  double radius_;
69  double density_;
70  double g_;
71  double youngs_modulus_;
72  double shear_modulus_;
73  double poisson_ratio_;
74 
75  // ADMM
76  double ADMM_D_tol_; // ADMM_D_tol_ : tolerance of offset in stiffness for ADMMCut
77  double penalty_; // penalty : penalty factor used in ADMM
78  double pri_tol_; // pri_tol : primal residual tolerance for ADMM termination criterion
79  double dual_tol_; // dual_tol : dual residual tolerance for ADMM termination criterion
80 
81  // Sequence Analyzer
82  double Wp_;
83  double Wa_;
84  double Wi_;
85  double seq_D_tol_; // seq_D_tol_ : tolerance of offset in stiffness for SeqAnalyzer
86 };
87 
88 #endif
FiberPrintPARM::FiberPrintPARM
FiberPrintPARM(double Wp=1.0, double Wa=1.0, double Wi=5.0, double seq_D_tol=2.0, double ADMM_D_tol=1.0, double penalty=1e2, double pri_tol=1e-2, double dual_tol=1e-2, double radius=0.75, double density=1210 *1e-12, double g=-9806.3, double youngs_modulus=3457, double shear_modulus=1294, double poisson_ratio=0.335)
Definition: FiberPrintPARM.cpp:3
g
GLboolean GLboolean g
FiberPrintPARM::youngs_modulus_
double youngs_modulus_
Definition: FiberPrintPARM.h:71
FiberPrintPARM::shear_modulus_
double shear_modulus_
Definition: FiberPrintPARM.h:72
FiberPrintPARM::poisson_ratio_
double poisson_ratio_
Definition: FiberPrintPARM.h:73

choreo_task_sequence_planner
Author(s): Yijiang Huang
autogenerated on Thu Jul 18 2019 04:03:14