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ref:dof_measure [2019/10/23 15:06]
ref:dof_measure [2019/11/12 15:29] (current)
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 +====== 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, 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. |
 +^ force | [[range_penalty|RangePenalty]]<​ double > | Penalty for when the DOF limit force [N] is out of range. |
 +^ 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. |
 +^ 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|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. |
 +
 +<​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​