Hi everyone,
I have some questions on torque actuator's xml script.
1- what does "-1.#INF" mean in min_control? can I replace it simply by -1?
2- What does "optimal_force" mean? Is it the maximum torque that the actuator can apply? Is it a force or a torque? and why is it OPTIMAL?
Regards,
Sina
<TorqueActuator>
<isDisabled>False</isDisabled>
<min_control>-1.#INF</min_control><max_control>1.#INF</max_control>
<bodyA></bodyA>
<bodyB></bodyB> <torque_is_global>True</torque_is_global>
<axis>(-1 -0 -0)</axis> <optimal_force>300</optimal_force>
</TorqueActuator>
Torque actuator xml code
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Ayman Habib
- Posts: 2244
- Joined: Fri Apr 01, 2005 12:24 pm
RE: Torque actuator xml code
Hi Sina,
1. (-1.#INF) is the way the code prints -Infinity, you should be able to use any number that you want, including +/- infinity.
2. The reason it is called optimal is historical, you can treat it as just "torque". The torque produced is the product of the control * optimal_force.
Sorry about the naming confusion and please let me know if that answers your question.
Good luck,
-Ayman
1. (-1.#INF) is the way the code prints -Infinity, you should be able to use any number that you want, including +/- infinity.
2. The reason it is called optimal is historical, you can treat it as just "torque". The torque produced is the product of the control * optimal_force.
Sorry about the naming confusion and please let me know if that answers your question.
Good luck,
-Ayman