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— | ref:height_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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+ | ====== HeightMeasure ====== | ||
+ | [[measure|Measure]] for optimizing height, such as in jumping tasks. | ||
+ | |||
+ | **Inherits from** [[measure|Measure]]. | ||
+ | |||
+ | ==== Public Attributes ==== | ||
+ | ^ Parameter ^ Type ^ Description ^ | ||
+ | ^ target_body | String | Body for which to measure the height, leave empty to use COM (default). | | ||
+ | ^ use_average_height | bool | Use average height instead of peak hight for measure; default = false. | | ||
+ | ^ terminate_on_peak | bool | Terminate simulation when a peak is detected; default = true. | | ||
+ | ^ termination_height | double | Relative height of COM at which to terminate the simulation; default = 0.5. | | ||
+ | ^ 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. | | ||
+ | |||
+ | < | ||