ref:perturbation_controller

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ref:perturbation_controller [2023/12/14 16:03] (current) – created - external edit 127.0.0.1
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 +====== PerturbationController ======
 +[[controller|Controller]] that generates external perturbations to a specific body. 
 +
 +**Inherits from** [[controller|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|Controller]] becomes active; default = 0. |
 +^ stop_time | TimeInSeconds | Time [s] at which [[controller|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. |
 +
 +<sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub>