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ref:sequential_controller [2020/01/03 14:19] |
ref:sequential_controller [2020/06/19 15:47] (current) |
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| + | ====== SequentialController ====== | ||
| + | [[controller|Controller]] that activates individual Controllers in sequential order. | ||
| + | |||
| + | The transition between the individual Controllers is governed by ''transition_intervals'' parameter, which is an array of intervals between Controllers. The number of components in ''transition_intervals'' should be equal to ''number of child controllers - 1''. **Important:** you should add a **name** your child controllers to ensure the optimization parameters have unique names. <code># Example of a 2-step feed-forward jumping controller using a SequentialController | ||
| + | SequentialController { | ||
| + | # We have two controllers, so one interval | ||
| + | transition_intervals = [ ~0.15<0.1,0.5> ] | ||
| + | |||
| + | # First controller prepares for jumping | ||
| + | FeedForwardController { | ||
| + | name = Prepare | ||
| + | symmetric = 1 | ||
| + | Polynomial { degree = 0 coefficient0 = 0.2~0.01<0,1> } | ||
| + | } | ||
| + | |||
| + | # Second controller does the actual jump | ||
| + | FeedForwardController { | ||
| + | name = Jump | ||
| + | symmetric = 1 | ||
| + | Polynomial { degree = 0 coefficient0 = 0.5~0.1<0,1> } | ||
| + | } | ||
| + | } | ||
| + | </code> | ||
| + | |||
| + | **Inherits from** [[composite_controller|CompositeController]]. | ||
| + | |||
| + | ==== Public Attributes ==== | ||
| + | ^ Parameter ^ Type ^ Description ^ | ||
| + | ^ transition_intervals | std::vector< TimeInSeconds > | intervals to use between each set of consecutive controllers | | ||
| + | ^ 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. | | ||
| + | ^ name | String | Name of the controller, uses as a prefix for the control parameters; empty by default. | | ||
| + | ^ 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. | | ||
| + | |||
| + | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub> | ||