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— | ref:lua_dof [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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+ | ====== LuaDof ====== | ||
+ | Dof (degree-of-freedom) type for use in lua scripting. | ||
+ | |||
+ | See [[script_controller|ScriptController]] and [[script_measure|ScriptMeasure]] for details on scripting. | ||
+ | |||
+ | ==== Public Functions ==== | ||
+ | ^ Function ^ Description ^ | ||
+ | | LuaString **name**() | get the name of the muscle | | ||
+ | | LuaNumber **position**() | get the current value (position) of the dof in [m] or [rad] | | ||
+ | | LuaNumber **velocity**() | get the current velocity of the dof in [m/s] or [rad/s] | | ||
+ | | bool **is_actuated**() | check if this dof is actuated | | ||
+ | | void **add_input**(LuaNumber value) | add a value to the actuator input (only for actuated dofs) | | ||
+ | | LuaNumber **input**() | get the current actuator input (only for actuated dofs) | | ||
+ | | LuaNumber **min_input**() | get minimum allowed value for actuator input | | ||
+ | | LuaNumber **max_input**() | get maximum allowed value for actuator input | | ||
+ | | LuaNumber **min_torque**() | get lowest (possibly negative) possible actuator torque [Nm] for this dof | | ||
+ | | LuaNumber **max_torque**() | get highest possible actuator torque [Nm] for this dof | | ||
+ | | LuaNumber **muscle_moment**() | get sum of muscle moments for this dof | | ||
+ | |||
+ | < | ||