adaptation.scalar¶

Laws that need no model: they scale or set a Param from the force alone.

Module Attributes

`NO_FORCE`	[N] A measured force below this is no contact, and the ratio law leaves the Params alone.

Classes

`ForceRatio`(controller, params[, max_change])	Scales live Params by the wanted force over the measured one, a step at a time.
`Stiffening`(controller, params, low, high, alpha)	Sets live Params to a stiffness that grows with the measured force, up to a limit.