24 #include "cheetah/generators/SimplePhaseModelConfig.h" 29 namespace generators {
32 SimplePhaseModelConfig::SimplePhaseModelConfig()
33 : utils::Config(
"simple_phase_model")
39 _coeffs = config._coeffs;
43 SimplePhaseModelConfig::~SimplePhaseModelConfig()
47 void SimplePhaseModelConfig::add_options(OptionsDescriptionEasyInit& add_options)
50 (
"coeffs", boost::program_options::value<panda::CommaSeparatedOptions<float>>(&_coeffs),
"comma separated list of coefficients in the taylor expansion, each corresponding to progressively higher derivatives of phase by time")
Configuration parameters for the SimplePhase Model.
std::vector< float > const & coefficients() const
return the coeffients for the simple phase model
Some limits and constants for FLDO.
SimplePhaseModelConfig & operator=(SimplePhaseModelConfig const &)
copy the coefficients from one object into another