nass-simscape/initialize/initializeSimConf.m

function [] = initializeSimConf(opts_param)
    %% Default values for opts
    opts = struct('Ts',      1e-4,  ... % Sampling time [s]
                  'Tsim',    10,    ... % Simulation time [s]
                  'cl_time', 0,     ... % Close Loop time [s]
                  'gravity', false  ... % Gravity along the z axis
    );

    %% Populate opts with input parameters
    if exist('opts_param','var')
        for opt = fieldnames(opts_param)'
            opts.(opt{1}) = opts_param.(opt{1});
        end
    end

    %%
    sim_conf = struct();

    %%
    sim_conf.Ts = opts.Ts;
    sim_conf.Tsim = opts.Tsim;
    sim_conf.cl_time = opts.cl_time;

    %% Gravity
    if opts.gravity
        sim_conf.g = -9.8; %#ok
    else
        sim_conf.g = 0; %#ok
    end

    %% Save
    save('./mat/sim_conf.mat', 'sim_conf');
end