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. |
source_parent | String | Optional name of the parent of the source DOF, which when defined will be added to source; default = “”. |
mirror_left | bool | Mirror the dof value for left sided reflexes, useful for pelvis_list, pelvis_rotation, etc.; default = 0. |
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