TrackingController
Controller that produces a feedback control signal for any actuator, based on a pid tracking of a model state.
Example:
TrackingController{ include = "actuator_name" pid = [160000., 0.0, 1600.0] scale = 0.5 min_control_value = -1000.0 max_control_value = 1000.0 file = "data/tracking_states.sto" include_states = "state_name" }
Inherits from Controller.
Public Attributes
Parameter | Type | Description |
---|---|---|
symmetric | bool | Bool indicating if function should be the same for left and right; default = true. |
include | String | Actuator names to include (semicolon separated); default = “*”. |
exclude | String | Actuator names to exclude (semicolon separated); default = “”. |
min_control_value | Real | Minimum output for this controller; default = -infinity. |
max_control_value | Real | Maximum output for this controller; default = +infinity. |
scale | Real | Scale value to scale the tracking data. |
file | xo::path | Filename of storage (sto). |
include_states | xo::pattern_matcher | States to include for comparison; default = *. |
exclude_states | xo::pattern_matcher | States to exclude for comparison; default = “”. |
time_offset | TimeInSeconds | Time in the .sto file to start measuring; default = 0. |
pid | Vec3 | PID controller parameters in the order of position, integral, and derivative. |
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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