Reflex Controller with feedback delay

[Vinay Kumar]

Hello,

I want to implement a reflex with feedback delay.
It appears that I have two options.

1) The API Guide suggests that the time delay can be implemented using Component(Operator) with the note that "OpenSim does not yet contain any built-in Operator components."


2) a: Create a controller, and a bunch of piecewise linear functions,
b: Update the piecewise linear functions periodically using a periodic event handler.
c: As the call to the controller is made to compute controls, interpolate the piecewise linear functions with delayed time.
Based on: https://simtk.org/projects/predictivesim

Can you share an example of 1) and do you see any problems with 2).
Is there a simpler way, not mentioned here, to do the same using OpenSim.

Thank You
-Vinay