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ref:body_point_reflex [2019/10/23 15:06]
ref:body_point_reflex [2019/11/12 15:29] (current)
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 +====== BodyPointReflex ======
 +[[reflex|Reflex]] based on the value of a specific point on a body. 
 +
 +Must be part of [[reflex_controller|ReflexController]]. ​
 +
 +**Inherits from** [[reflex|Reflex]].
 +
 +==== 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,​ in global coordinate frame. |
 +^ 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. |
 +
 +<​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​