Differences
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ref:dof_reflex [2020/06/19 15:47] |
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| + | ====== DofReflex ====== | ||
| + | [[reflex|Reflex]] based on the value of a specific DOF. | ||
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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 DOF that is the source of this [[reflex|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. | | ||
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| + | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub> | ||