ActuatorDynamics models the dynamics of a set of identical actuators. Each actuator is modeled as a critically damped harmonic oscillator.

Parameters
nact	int	number of actuators (controls size of input and output vectors)
timeLimit	double	maximum amount of time that recallable outputs must be kept (if zero, then forever) (s)	0.0
timeConstant	float	controls the speed of actuator response; the actuators are modeled as critically damped harmonic oscillators.	1.e-6
pos0	Vector<float>	Initial position	Vector()
vel0	Vector<float>	Initial velocity	Vector()
acc0	Vector<float>	Initial acceleration (command)	Vector()
Inputs
actuatorCommands	Vector<float>	actuator commands (m)
Outputs
actuatorPositions	Recallable<Vector<float>>	actuators positions (m). this output was made a "Recallable" to support looking back in time.
Subsystems
ActuatorDynamics_dmk    actdyn_dmk nact   int    nact d   float    2.0f * timeConstant m   float    (float)pow((double)timeConstant,2.0) k   float    1.0 timeLimit   double    timeLimit pos0   Vector<float>    pos0 vel0   Vector<float>    vel0 acc0   Vector<float>    acc0 Connections actdyn_dmk.actuatorCommands   <<=   actuatorCommands actuatorPositions   <<=   actdyn_dmk.actuatorPositions
Last Saved: Thu May 03 23:11:55 MDT 2001 by TVE version 2007B