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30 lines
791 B
30 lines
791 B
namespace: drake::examples::acrobot
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elements:
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# Note: default parameter values are taken from:
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# Spong, Mark W. "Swing up control of the acrobot." Robotics and Automation,
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# 1994. Proceedings., 1994 IEEE International Conference on. IEEE, 1994.
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-
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name: k_e
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doc: Energy shaping gain.
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doc_units: s
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default_value: 5.0
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min_value: 0.0
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-
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name: k_p
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doc: Partial feedback linearization proportional gain.
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doc_units: s^-2
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default_value: 50.0
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min_value: 0.0
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-
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name: k_d
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doc: Partial feedback linearization derivative gain.
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doc_units: s^-1
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default_value: 5.0
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min_value: 0.0
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-
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name: balancing_threshold
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doc: Cost value at which to switch from swing up to balancing.
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doc_units:
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default_value: 1e3
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min_value: 0.0
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