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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; | ||
+ | ^ 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:: | ||
+ | ^ duration | xo:: | ||
+ | ^ 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, | ||
+ | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature | String | Set custom signature and omit the auto-generated signature. | | ||
+ | |||
+ | < | ||