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 Body & Body to which to apply the penalty to.
offset Vec3 Offset [m] of the point of the body to measure, relative to origin; default = [ 0 0 0 ].
axes_weights Vec3 Weights to apply to each axis; default = [ 0 0 0 ].
relative_to_model_com bool Offset is measured relative to model COM; default = false.
position RangePenalty< Real > Penalty for when the DOF position [deg] is out of range.
velocity RangePenalty< Real > Penalty for when the DOF velocity [deg/s] is out of range.
acceleration RangePenalty< Real > Penalty for when the DOF limit force [N] 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.
result_offset Real Offset added to measure result; default = 0.
minimize bool Indicate whether this measure should be minimized; is set correctly by default.
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.

Converted from doxygen using dokugen

  • (external edit)