icarus::TrimConfig Struct Reference

Trim configuration for state initialization. More...

#include <SimulatorConfig.hpp>

Public Member Functions
bool	IsWarmstart () const
	Check if this is warmstart mode.
bool	IsEquilibrium () const
	Check if this is equilibrium mode.
std::vector< std::string >	Validate () const
	Validate configuration.

Static Public Member Functions
static TrimConfig	Default ()
	Create default disabled config.

Public Attributes
bool	enabled = false
	Whether to run trim/initialization.
std::string	mode = "equilibrium"
	Mode: "equilibrium" (solve for steady-state) or "warmstart" (load from recording).
std::vector< std::string >	zero_derivatives
	Trim targets: which derivatives should be zero?
std::vector< std::string >	control_signals
	Trim controls: which signals can be adjusted?
double	tolerance = 1e-6
	Optimization settings.
int	max_iterations = 100
std::string	method = "newton"
	"newton" or "ipopt"
std::unordered_map< std::string, double >	initial_guesses
	Initial guesses for controls (optional).
std::unordered_map< std::string, std::pair< double, double > >	control_bounds
	Control bounds (optional): key -> (min, max).
std::string	recording_path
	Path to recording file (for warmstart mode).
double	resume_time = 0.0
	MET to resume from (for warmstart mode).
bool	validate_schema = true
	Validate recording schema before loading (for warmstart mode).

Detailed Description

Trim configuration for state initialization.

Defines how the simulator initializes state during Stage(). Supports two modes:

• "equilibrium": Solve for trim conditions (zero derivatives)
• "warmstart": Restore state from a recording file

Example YAML:

staging:
  trim:
    enabled: true
    mode: warmstart
    recording_path: "flight_001.h5"
    resume_time: 120.0

Member Function Documentation

Default()

TrimConfig icarus::TrimConfig::Default ( )

inlinestaticnodiscard

Create default disabled config.

IsEquilibrium()

bool icarus::TrimConfig::IsEquilibrium ( ) const

inlinenodiscard

Check if this is equilibrium mode.

IsWarmstart()

bool icarus::TrimConfig::IsWarmstart ( ) const

inlinenodiscard

Check if this is warmstart mode.

Validate()

std::vector< std::string > icarus::TrimConfig::Validate ( ) const

inlinenodiscard

Validate configuration.

Member Data Documentation

control_bounds

std::unordered_map<std::string, std::pair<double, double> > icarus::TrimConfig::control_bounds

Control bounds (optional): key -> (min, max).

control_signals

std::vector<std::string> icarus::TrimConfig::control_signals

Trim controls: which signals can be adjusted?

enabled

bool icarus::TrimConfig::enabled = false

Whether to run trim/initialization.

initial_guesses

std::unordered_map<std::string, double> icarus::TrimConfig::initial_guesses

Initial guesses for controls (optional).

max_iterations

int icarus::TrimConfig::max_iterations = 100

method

std::string icarus::TrimConfig::method = "newton"

"newton" or "ipopt"

mode

std::string icarus::TrimConfig::mode = "equilibrium"

Mode: "equilibrium" (solve for steady-state) or "warmstart" (load from recording).

recording_path

std::string icarus::TrimConfig::recording_path

Path to recording file (for warmstart mode).

resume_time

double icarus::TrimConfig::resume_time = 0.0

MET to resume from (for warmstart mode).

tolerance

double icarus::TrimConfig::tolerance = 1e-6

Optimization settings.

validate_schema

bool icarus::TrimConfig::validate_schema = true

Validate recording schema before loading (for warmstart mode).

zero_derivatives

std::vector<std::string> icarus::TrimConfig::zero_derivatives

Trim targets: which derivatives should be zero?

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The documentation for this struct was generated from the following file:

• include/icarus/sim/SimulatorConfig.hpp