This page is read only. You can view the source, but not change it. Ask your administrator if you think this is wrong. ====== DofMeasure ====== [[measure|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: <code>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 } </code> **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. | ^ position | [[range_penalty|RangePenalty]]< Degree > | Penalty for when the DOF position [deg] is out of range. | ^ velocity | [[range_penalty|RangePenalty]]< Degree > | Penalty for when the DOF velocity [deg/s] is out of range. | ^ acceleration | [[range_penalty|RangePenalty]]< Degree > | Penalty for when the DOF acceleration [deg/s%%^%%2] is out of range. | ^ limit_torque | [[range_penalty|RangePenalty]]< Real > | Penalty for when the DOF limit torque [Nm] is out of range (this value is signed!). | ^ actuator_torque | [[range_penalty|RangePenalty]]< Real > | Penalty for the DOF actuator torque (this value is signed!). | ^ 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. | ^ signature | String | Set custom signature and omit the auto-generated signature. | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub>