PerturbationController
Controller that generates external perturbations to a specific body.
Inherits from Controller.
Public Attributes
Parameter | Type | Description | |
---|---|---|---|
body | Body & | Name of the body to which to apply the external perturbation to. | |
position_offset | Vec3 | Local position [m | 3] at which to apply the perturbation; default = [ 0 0 0 ]. |
force | Vec3 | Perturbation force [N] to apply; default = [ 0 0 0 ]. | |
moment | Vec3 | Perturbation moment [Nm] to apply; default = [ 0 0 0 ]. | |
random_seed | unsigned int | Random seed used for the perturbation sequence; default = 5489. | |
interval | xo::bounds< TimeInSeconds > | Fixed time [s] between two perturbations; default 2. | |
duration | xo::bounds< TimeInSeconds > | Duration [s] of the perturbation; default = 0. | |
name | String | Name of the controller, uses as a prefix for the control parameters; empty by default. | |
start_time | TimeInSeconds | Time [s] at which Controller becomes active; default = 0. | |
stop_time | TimeInSeconds | Time [s] at which Controller becomes inactive; default = until simulation ends. | |
signature_prefix | String | Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. | |
signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. | |
signature | String | Set custom signature and omit the auto-generated signature. |
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