Differences
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| — | ref:body_point_reflex [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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| + | ====== BodyPointReflex ====== | ||
| + | [[reflex|Reflex]] based on the value of a specific point on a body. | ||
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| + | Must be part of [[reflex_controller|ReflexController]]. | ||
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| + | **Inherits from** [[reflex|Reflex]]. | ||
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| + | ==== Public Attributes ==== | ||
| + | ^ Parameter ^ Type ^ Description ^ | ||
| + | ^ source | String | Name of the Body that is the source of this [[reflex|Reflex]]. | | ||
| + | ^ offset | Vec3 | Offset of the body point [m] in the local coordinate frame of the body. | | ||
| + | ^ direction | Vec3 | Direction in which to measure position, velocity or acceleration, | ||
| + | ^ P0 | Real | Target position [m] of the body point; default = 0. | | ||
| + | ^ V0 | Real | Target velocity [m/s] of the body point; default = 0. | | ||
| + | ^ A0 | Real | Target acceleration [m/s%%^%%2] of the body point; default = 0. | | ||
| + | ^ KP | Real | Position feedback gain; default = 0. | | ||
| + | ^ KV | Real | Velocity feedback gain; default = 0. | | ||
| + | ^ KA | Real | Acceleration feedback gain; default = 0. | | ||
| + | ^ C0 | Real | Constant actuation added to the reflex; default = 0. | | ||
| + | ^ target | String | Name of the target actuator; use _o for actuators on the opposite side. | | ||
| + | ^ min_control_value | Real | Minimum output for this reflex; default = -infinity. | | ||
| + | ^ max_control_value | Real | Maximum output for this reflex; default = +infinity. | | ||
| + | ^ delay | TimeInSeconds | Neuromuscular delay [s] used for this reflex; default = 0. | | ||
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| + | < | ||