ref:dof_reflex

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ref:dof_reflex [2023/12/14 16:03] (current) – created - external edit 127.0.0.1
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 +====== DofReflex ======
 +[[reflex|Reflex]] based on the value of a specific DOF. 
 +
 +Must be part of [[reflex_controller|ReflexController]]. 
 +
 +**Inherits from** [[reflex|Reflex]].
 +
 +==== 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. |
 +^ 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. |
 +
 +<sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub>