DofMeasure

Measure that adds a penalty when a degree of freedom (DOF) is outside a specific range.

Penalties can be based on DOF position, DOF velocity, and restitution force. Example:

DofMeasure {
    dof = pelvis_tilt
    position { min = -45 max = 0 abs_penalty = 10 } # Penalize leaning backwards
    velocity { min = -10 max = 10 abs_penalty = 10 } # Penalize upper body motion
}

Inherits from Measure.

Public Attributes

Parameter Type Description
dof Dof & Dof to which to apply the penalty to.
parent Dof * Optional parent dof which will be added to the dof value.
position RangePenalty< Degree > Penalty for when the DOF position [deg] is out of range.
velocity RangePenalty< Degree > Penalty for when the DOF velocity [deg/s] is out of range.
force RangePenalty< double > Penalty for when the DOF limit force [N] 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.
result_offset Real Offset added to measure result; default = 0.
minimize bool Indicate whether this measure should be minimized; is set correctly by default.
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.

Converted from doxygen using dokugen

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