ActuatorDynamics_dmk models the dynamics of a set of identical actuators. Each actuator is modeled as a damped harmonic oscillator (not necessarily critically damped): m*xdotdot + d*xdot + k*x =c, where x=actuator position, c=actuator command, m=mass, d=damping coefficient, k=spring constant.

Parameters
nact	int	Number of actuators (controls size of input and output vectors)
d	float	Damping coefficient.
m	float	Mass.
k	float	Spring constant.
timeLimit	double	Maximum amount of time that recallable outputs must be kept (if zero, then forever) (s).	0.0
pos0	Vector<float>	Initial position	Vector()
vel0	Vector<float>	Initial velocity	Vector()
acc0	Vector<float>	Initial acceleration (command).	Vector()
Inputs
actuatorCommands	Vector<float>	Actuators commands (proportional to meters, according to spring constant).
Outputs
actuatorPositions	Recallable<Vector<float>>	Actuators positions (m). This output was made a "Recallable" to support looking back in time.
Subsystems
Last Saved: Tue Feb 19 11:57:20 MST 2008 by TVE version 2007B