ReactionForceMeasure [SCONE]

ref:reaction_force_measure

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 >.

Parameter	Type	Description
use_force_per_leg	bool	measure force per leg instead of sum of forces; defaut = false.
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.
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 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.
signature	String	Set custom signature and omit the auto-generated signature.
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.
min	Real	Minimum value or lower bound of the range; default = -inf.
max	Real	Maximum value or upper bound of the range; default = inf.

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