# Differences

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 — ref:dof_measure [2020/04/30 16:30] (current) Line 1: Line 1: + ====== 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 + } + ​ + + **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]]<​ Real > | 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; 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. | + + <​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]
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