This page is read only. You can view the source, but not change it. Ask your administrator if you think this is wrong. ====== TrackingController ====== [[controller|Controller]] that produces a feedback control signal for any actuator, based on a pid tracking of a model state. Example: <code> 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" } </code> **Inherits from** [[controller|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|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>