KoulesConfig.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_CONFIG_
38 #define DEMOS_KOULES_CONFIG_
39 
40 #include <boost/math/constants/constants.hpp>
41 
42 // size of the square that defines workspace
43 const double sideLength = 1.;
44 // koule properties
45 const double kouleMass = .5;
46 const double kouleRadius = .015;
47 // ship properties
48 const double shipAcceleration = 1.;
49 const double shipRotVel = boost::math::constants::pi<double>();
50 const double shipMass = .75;
51 const double shipRadius = .03;
52 const double shipVmax = .5 / shipAcceleration;
53 const double shipVmin = .1 * shipVmax;
54 // dynamics, propagation, control constants
55 const double lambda_c = 4.;
56 const double h = .05;
57 const double propagationStepSize = .01;
58 const unsigned int propagationMinSteps = 1;
59 const unsigned int propagationMaxSteps = 200;
60 const double shipDelta = .5 * shipAcceleration * propagationStepSize;
61 const double shipEps = .5 * shipRotVel * propagationStepSize;
62 
63 #endif