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ref:dof_reflex [2019/10/23 15:06]
ref:dof_reflex [2019/11/12 15:29] (current)
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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. |
 +^ 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>​