Configuration schema#
This is the schema of the configuration file.
Executable parameters#
Parameter |
Description |
Allowed values |
Default value |
|---|---|---|---|
log.level |
Log verbosity level |
string {‘debug’; ‘info’; ‘warning’; ‘error’} |
info |
Terrain parameters#
Parameter |
Description |
Allowed values |
Default value |
|---|---|---|---|
terrain.type |
Type of terrain |
string {‘rigid’; ‘scm’; ‘crg’} |
rigid |
terrain.rigid.patches.[].material.frictionCoefficient |
Friction coefficient of the terrain patch |
double |
0.85 |
terrain.rigid.patches.[].position.x |
X coordinate of the terrain patch center |
double |
0.0 |
terrain.rigid.patches.[].position.y |
Y coordinate of the terrain patch center |
double |
0.0 |
terrain.rigid.patches.[].size.length |
Length of the terrain patch |
double |
0.0 |
terrain.rigid.patches.[].size.width |
Width of the terrain patch |
double |
0.0 |
terrain.rigid.patches.[].heightmap.file |
Path to the height map file. Only used for rigid terrain patches. |
string |
|
terrain.rigid.patches.[].heightmap.lowest |
Minimum height in the terrain heightmap |
double |
0.0 |
terrain.rigid.patches.[].heightmap.highest |
Maximum height in the terrain heightmap |
double |
1.0 |
terrain.rigid.patches.[].visualization.texture.path |
Path to the terrain patch texture file |
string |
Simulation parameters#
Parameter |
Description |
Allowed values |
Default value |
|---|---|---|---|
simulation.timeStep |
Simulation time step in seconds |
double |
0.0005 |
simulation.warmupTime |
Time before vehicle commands are issued and simulation output is recorded |
double |
2.0 |
simulation.endTime |
Simulation end time in seconds |
double |
10.0 |
Driver parameters#
Parameter |
Description |
Allowed values |
Default value |
|---|---|---|---|
driver.timeToMaximumThrottle |
The number of seconds required to reach the maximum throttle |
double |
10.0 |
driver.maximumThrottle |
The maximum throttle effort at steady state |
double |
1.0 |
driver.type |
The type of driver model used |
straightLine |
straightLine |
Controllers parameters#
Parameter |
Description |
Allowed values |
Default value |
|---|---|---|---|
speedController.proportionalGain |
Longitudinal speed controller proportional gain |
double |
0.4 |
speedController.integralGain |
Longitudinal speed controller integral gain |
double |
0.0 |
speedController.derivativeGain |
Longitudinal speed controller derivative gain |
double |
0.0 |
steeringController.proportionalGain |
Lateral steering controller proportional gain |
double |
1.5 |
steeringController.integralGain |
Lateral steering controller integral gain |
double |
0.0 |
steeringController.derivativeGain |
Lateral steering controller derivative gain |
double |
0.0 |
steeringController.lookaheadDistance |
Lateral steering controller path look-ahead distance |
double |
5.0 |
Vehicle parameters#
Parameter |
Description |
Allowed values |
Default value |
vehicle.system |
Vehicle system override template path |
string |
|
vehicle.engine |
Vehicle engine subsystem override template path |
string |
|
vehicle.transmission |
Vehicle transmission subsystem override template path |
string |
|
vehicle.frontTires |
Vehicle front tires subsystem override template path |
string |
|
vehicle.rearTires |
Vehicle rear tires subsystem override template path |
string |
|
solver.maximumIterations |
Maximum number of iterations in the physics solver |
int |
200 |
Output parameters#
Parameter |
Description |
Allowed values |
Default value |
|---|---|---|---|
output.frequency |
Write frequency for the simulation output |
double |
200.0 |
output.path |
Path for the simulation output |
double |
./ |
output.filename |
OlavDLC |
string |
results |
output.addTimestamp |
Append timestamp to the simulation results file |
bool |
true |
output.useNameGenerator |
Append an auto-generated human-readable name |
bool |
true |