BodyMeasure
Measure for penalizing when points on bodies go out of a specific range.
Supports penalties based on position, velocity, and acceleration.
Inherits from Measure.
Public Attributes
Parameter | Type | Description | |
---|---|---|---|
body | const Body & | Body to which to apply the penalty to. | |
target_position | Vec3 | Target position [m | 3] of the point, relative to global origin or com pos; default = [ 0 0 0 ]. |
target_orientation | Quat | Target orientation, relative to global origin; default = [ 0 0 0 ]. | |
offset | Vec3 | Offset [m | 3] of the point of the body to measure, relative to origin; default = [ 0 0 0 ]. |
direction | Vec3 | Direction vector [3] in which to measure (global coordinate frame), or zero when measuring magnitude (default);. | |
magnitude | bool | Measure the magnitude instead of dot product; default = true if direction equals zero. | |
scale | Vec3 | Magnitude scaling [3]; default = [ 1 1 1 ]. | |
relative_to_model_com | bool | Offset is measured relative to model COM; default = false. | |
acceleration_magnitude | bool | When measurring acceleration, take the magnitude along the axes weights instead of dot product; default = true. | |
position | RangePenalty< Real > | Penalty for when the point position [m] is out of range. | |
orientation | RangePenalty< Real > | Penalty for when the body orientation [rad] is out of range. | |
velocity | RangePenalty< Real > | Penalty for when the point velocity [m/s] is out of range. | |
angular_velocity | RangePenalty< Real > | Penalty for when the angular velocity [rad/s] is out of range. | |
acceleration | RangePenalty< Real > | Penalty for when the point acceleration [m/s^2] is out of range. | |
angular_acceleration | RangePenalty< Real > | Penalty for when the angular acceleration [m/s^2] is out of range. | |
name | String | Name of the Measure, to be used in reporting; defaults to measure type. | |
weight | Real | Weighting factor applied to the result of the measure; default = 1. | |
threshold | Real | Threshold above / below which the measure becomes zero; default = 0. | |
threshold_transition | Real | Transition range above threshold between which the measure linearly decreases to zero; default = 0. | |
result_offset | Real | Offset added to measure result; default = 0. | |
minimize | bool | Indicate whether this measure should be minimized; default value depends on the measure type (usually true). | |
start_time | TimeInSeconds | Time [s] at which Controller becomes active; default = 0. | |
stop_time | TimeInSeconds | Time [s] at which Controller becomes inactive; default = until simulation ends. | |
signature_prefix | String | Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. | |
signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. | |
signature | String | Set custom signature and omit the auto-generated signature. |
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