DofReflex

Reflex based on the value of a specific DOF.

Must be part of ReflexController.

Inherits from Reflex.

Public Attributes

Parameter Type Description
source String Name of the DOF that is the source of this Reflex, append with _o for DOF on opposite side.
P0 Real Target position [rad or m] for sensor DOF; default = 0.
KP Real Position feedback gain; default = 0.
allow_neg_P bool Allow this reflex to be negative; default = 1.
V0 Real Target velocity [rad or m] for sensor DOF; default = 0.
KV Real Velocity feedback gain; default = 0.
allow_neg_V bool Allow this reflex to be negative; default = 1.
C0 Real Constant actuation added to the reflex; default = 0.
filter_cutoff_frequency Real Cut-off frequency of optional low-pass filter, no filtering if zero; default = 0.
condition int Apply this reflex only depending on the sign of the result: 1 = pos, -1 = neg, 0 = always.
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.

Converted from doxygen using dokugen

  • (external edit)