Description

Similar to CoordinateActuator (simply produces a generalized force) but with first-order linear activation dynamics.

This actuator has one state variable, activation, with \( \dot{a} = (u - a) / \tau \), where \( a \) is activation, \( u \) is excitation, and \( \tau \) is the activation time constant (there is no separate deactivation time constant). Default Property Values

/// activation_time_constant: 0.01
/// default_activation: 0.5
///

Inheritance diagram for OpenSim::ActivationCoordinateActuator:

#include <Moco/Moco/Components/ActivationCoordinateActuator.h>

Public Member Functions
	OpenSim_DECLARE_PROPERTY (activation_time_constant, double, "Larger value means activation can change more rapidly " "(units: seconds).")

	OpenSim_DECLARE_PROPERTY (default_activation, double, "Value of activation in the default state returned by initSystem().")

	OpenSim_DECLARE_OUTPUT (statebounds_activation, SimTK::Vec2, getBoundsActivation, SimTK::Stage::Model)

SimTK::Vec2	getBoundsActivation (const SimTK::State &) const

Protected Member Functions
void	extendAddToSystem (SimTK::MultibodySystem &system) const override

void	extendInitStateFromProperties (SimTK::State &s) const override

void	extendSetPropertiesFromState (const SimTK::State &s) override

void	computeStateVariableDerivatives (const SimTK::State &s) const override

double	computeActuation (const SimTK::State &s) const override

The documentation for this class was generated from the following file:

ActivationCoordinateActuator.h

Description

Public Member Functions

Protected Member Functions