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ref:dof_measure [2020/06/19 15:47] (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]]< 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. | | ||
| + | ^ 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. | | ||
| + | |||
| + | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub> | ||