This page is read only. You can view the source, but not change it. Ask your administrator if you think this is wrong. ====== 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, take the magnitude along the axes weights instead of dot product; default = true. | ^ position | [[range_penalty|RangePenalty]]< Real > | Penalty for when the point position [m] is out of range. | ^ velocity | [[range_penalty|RangePenalty]]< Real > | Penalty for when the point velocity [m/s] is out of range. | ^ angular_velocity | [[range_penalty|RangePenalty]]< Real > | Penalty for when the angular velocity [rad/s] is out of range. | ^ acceleration | [[range_penalty|RangePenalty]]< Real > | Penalty for when the point acceleration [m/s%%^%%2] is out of range. | ^ name | String | Name of the [[measure|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|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, 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. | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub>