raisim::Tendon::Drive

struct · #include <raisim/constraints/Tendon.hpp>

Actuator acting along the tendon. The commanded force is filtered(force) + positionGain*(targetLength - length) + velocityGain*(targetVelocity - velocity), integrated implicitly and clamped to [Properties::actuationLower, Properties::actuationUpper]. Positive force lengthens the tendon.

Public attributes

force

double force

Signed feedforward force in tendon coordinates.

targetLength

double targetLength

Target length for the position gain (m for spatial tendons).

targetVelocity

double targetVelocity

Target length rate for the velocity gain.

positionGain

double positionGain

Proportional gain (nonnegative).

velocityGain

double velocityGain

Derivative gain (nonnegative).

activationTime

double activationTime

First-order force activation time; zero is instantaneous.