DofMeasure [SCONE]

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, DOF acceleration, 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.

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.
acceleration	RangePenalty< Degree >	Penalty for when the DOF acceleration [deg/s^2] is out of range.
force	RangePenalty< Real >	Penalty for when the DOF limit force [N] is out of range (this value is signed!).
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.
signature	String	Set custom signature and omit the auto-generated signature.

_{Converted from doxygen using dokugen}

DofMeasure

Public Attributes