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ref:sequential_controller [2020/02/04 15:15] (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 feedforward 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>​
  
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