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.
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.
acceleration RangePenalty< Real > Penalty for when the point acceleration [m/s2] 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.

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