From 8ead54d2dceb5034b1fe3737413feb3979b381ef Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Wed, 27 Jul 2022 09:23:09 -0700 Subject: [PATCH] Add missing gain type "affine" to general actuators. PiperOrigin-RevId: 463605415 Change-Id: I849e6f2f0ec5eaedaa774099e5e07f27919bb943 --- doc/XMLreference.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 35c3fa52..f9ebc81e 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -4486,13 +4486,13 @@ This element has one custom attribute in addition to the common attributes: :el-prefix:`actuator/` **damper** (*) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity * control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative. The underlying :el:`general` attributes are set as follows: +This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity * control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative. The underlying :el:`general` attributes are set as follows: =========== ======= ========= ======= Attribute Setting Attribute Setting =========== ======= ========= ======= dyntype none dynprm 1 0 0 -gaintype affine gainprm 0 0 kv +gaintype affine gainprm 0 0 -kv biastype none biasprm 0 0 0 ctrllimited true =========== ======= ========= =======