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.

Parameter	Type	Description
body	const 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 ].
direction	Vec3	Direction vector [m3] 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.
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.
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.
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.

Function	Description
double GetCurrentResult(const Model &model) override	Get last computed measure value, for use in rewards.
double GetResult(const Model &model)	Get final result.

_{Converted from doxygen using dokugen}

BodyMeasure

Public Attributes

Public Functions