no way to compare when less than two revisions
Differences
This shows you the differences between two versions of the page.
— | ref:dof_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
---|---|---|---|
Line 1: | Line 1: | ||
+ | ====== DofMeasure ====== | ||
+ | [[measure|Measure]] that adds a penalty for a specific degree-of-freedom (DoF). | ||
+ | |||
+ | Penalties can be based on '' | ||
+ | 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 | ||
+ | } | ||
+ | # Measure for knee limits | ||
+ | CompositeMeasure { | ||
+ | name = DofLimits | ||
+ | symmetric = true | ||
+ | DofMeasure { | ||
+ | dof = knee_angle | ||
+ | threshold = 2 | ||
+ | threshold_transition = 2 | ||
+ | weight = 0.1 | ||
+ | limit_torque { min = 0 max = 0 abs_penalty = 1 } | ||
+ | } | ||
+ | } | ||
+ | </ | ||
+ | |||
+ | **Inherits from** [[measure|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. | | ||
+ | ^ in_degrees | bool | Set if rotations are in degrees or radians; default = 1. | | ||
+ | ^ position | [[range_penalty|RangePenalty]]< | ||
+ | ^ velocity | [[range_penalty|RangePenalty]]< | ||
+ | ^ acceleration | [[range_penalty|RangePenalty]]< | ||
+ | ^ limit_torque | [[range_penalty|RangePenalty]]< | ||
+ | ^ actuator_torque | [[range_penalty|RangePenalty]]< | ||
+ | ^ name | String | Name of the [[measure|Measure]], | ||
+ | ^ 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 '' | ||
+ | ^ 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, | ||
+ | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature | String | Set custom signature and omit the auto-generated signature. | | ||
+ | |||
+ | < | ||