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, 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.
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. |
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. |
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