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| — | ref:jump_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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| + | ====== JumpMeasure ====== | ||
| + | [[measure|Measure]] for jumping. | ||
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| + | **Inherits from** [[measure|Measure]]. | ||
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| + | ==== Public Attributes ==== | ||
| + | ^ Parameter ^ Type ^ Description ^ | ||
| + | ^ jump_type | JumpType | Type of jump, currently only HighJump (default) is supported. | | ||
| + | ^ termination_height | Real | Relative COM height on which to terminate simulation (should be < 1); to detect cases where the model is not jumping but falling; default = 0.5. | | ||
| + | ^ terminate_on_peak | bool | Terminate when peak height is detected; default = true. | | ||
| + | ^ prepare_time | Real | Time to prepare for jump, in which vertical velocity is ignored; default = 0.2. | | ||
| + | ^ recover_time | Real | Time to recover from jump (experimental). | | ||
| + | ^ target_body | Body * | Body to measure, leave empty for COM (default). | | ||
| + | ^ offset | Vec3 | Offset of body to measure from origin (NOT COM); default = [ 0 0 0 ]. | | ||
| + | ^ jump_angle | Degree | Direction to jump in [deg], 0 is up, 90 is forward; default = 0. | | ||
| + | ^ 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. | | ||
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| + | < | ||