ReactionForceMeasure

Measure that penalizes ground reaction forces above a certain threshold.

See RangePenalty for details on how to set range, abs_penalty and squared_penalty.

Inherits from Measure, RangePenalty< Real >.

Public Attributes

Parameter Type Description
name String Name of the 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 becomes active; default = 0.
stop_time TimeInSeconds Time [s] at which 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.
range Range< Real > Specify the valid range, set through parameters 'min' and 'max'; defaults to { min = -inf max = inf }.
abs_penalty Real Absolute penalty factor when value is out of range; default = 0.
squared_penalty Real Squared penalty factor when value out of range; default = 0.
mode_ penalty_mode Use the peek range violation instead of average range violation; default = 0.

Converted from doxygen using dokugen

  • (external edit)