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Add missing gain type "affine" to general actuators.

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PiperOrigin-RevId: 463605415
Change-Id: I849e6f2f0ec5eaedaa774099e5e07f27919bb943
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Alessio Quaglino
2022-07-27 09:23:09 -07:00
committed by Copybara-Service
parent 807097148e
commit 8ead54d2dc
1 changed files with 2 additions and 2 deletions
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doc/XMLreference.rst
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@@ -4486,13 +4486,13 @@ This element has one custom attribute in addition to the common attributes:
:el-prefix:`actuator/` **damper** (*) :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 Attribute Setting Attribute Setting
=========== ======= ========= ======= =========== ======= ========= =======
dyntype none dynprm 1 0 0 dyntype none dynprm 1 0 0
gaintype affine gainprm 0 0 kv gaintype affine gainprm 0 0 -kv
biastype none biasprm 0 0 0 biastype none biasprm 0 0 0
ctrllimited true ctrllimited true
=========== ======= ========= ======= =========== ======= ========= =======