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— | ref:body_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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+ | ====== BodyMeasure ====== | ||
+ | [[measure|Measure]] for penalizing when points on bodies go out of a specific range. | ||
+ | |||
+ | Supports penalties based on position, velocity, and acceleration. | ||
+ | |||
+ | **Inherits from** [[measure|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|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, | ||
+ | ^ position | [[range_penalty|RangePenalty]]< | ||
+ | ^ velocity | [[range_penalty|RangePenalty]]< | ||
+ | ^ angular_velocity | [[range_penalty|RangePenalty]]< | ||
+ | ^ acceleration | [[range_penalty|RangePenalty]]< | ||
+ | ^ name | String | Name of the [[measure|Measure]], | ||
+ | ^ 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 '' | ||
+ | ^ 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|Controller]] becomes active; default = 0. | | ||
+ | ^ stop_time | TimeInSeconds | Time [s] at which [[controller|Controller]] becomes inactive; default = until simulation ends. | | ||
+ | ^ signature_prefix | String | Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature | String | Set custom signature and omit the auto-generated signature. | | ||
+ | |||
+ | < | ||