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ref:body_measure [2020/06/19 15:47] (current)
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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,​ 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. |
 +^ 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. |
 +
 +<​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​
  
  • (external edit)