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--- visual3d:documentation:pipeline:expressions:intersection_functions [2025/01/24 19:10] – wikisysop
+++ visual3d:documentation:pipeline:expressions:intersection_functions [2025/01/27 20:25] (current) – wikisysop
@@ Line 246: / Line 246: @@
 ;
 </code>
+Example: Projecting a bounding box onto a sloped plane.
+<code>
+!Creating 4 vectors defining a corners of plane (such as a sloped floor)
+Metric_Explicit
+/RESULT_METRIC_FOLDER=FLOOR
+/RESULT_METRIC_NAME=F1
+/METRIC_VALUE=VECTOR(0,0,0)
+;
+Metric_Explicit
+/RESULT_METRIC_FOLDER=FLOOR
+/RESULT_METRIC_NAME=F2
+/METRIC_VALUE=VECTOR(0.2,0,0)
+;
+Metric_Explicit
+/RESULT_METRIC_FOLDER=FLOOR
+/RESULT_METRIC_NAME=F3
+/METRIC_VALUE=VECTOR(0,0.2,0.03)
+;
+Metric_Explicit
+/RESULT_METRIC_FOLDER=FLOOR
+/RESULT_METRIC_NAME=F4
+/METRIC_VALUE=VECTOR(0.2,0.2,0.03)
+;
+! Creating a best fit plane using the 4 vectors defined previously
+Evaluate_Expression
+/EXPRESSION=BEST_FIT_PLANE(CURRENT_SIGNAL)
+/SIGNAL_TYPES=METRIC
+/SIGNAL_FOLDER=FLOOR
+ /SIGNAL_NAMES=F1+F2+F3+F4
+! /SIGNAL_COMPONENTS=
+ /RESULT_TYPES=METRIC
+/RESULT_FOLDERS=FLOOR
+/RESULT_NAME=PLANE
+! /APPLY_AS_SUFFIX_TO_SIGNAL_NAME=FALSE
+;
+! Projecting a bounding box onto the plane to create a base of support
+Evaluate_Expression
+/EXPRESSION=BASE_OF_SUPPORT(CURRENT_SIGNAL,METRIC::FLOOR::PLANE)
+/SIGNAL_TYPES=DERIVED
+/SIGNAL_FOLDER=BOUNDING_BOX
+/SIGNAL_NAMES=BOX
+! /SIGNAL_COMPONENTS=
+! /RESULT_TYPES=DERIVED
+/RESULT_FOLDERS=BASE_OF_SUPPORT
+/RESULT_NAME=BOS2
+! /APPLY_AS_SUFFIX_TO_SIGNAL_NAME=FALSE
+;
+! Highlighting the base of support with targets
+Create_Targets_For_Base_Of_Support
+/SIGNAL_NAMES=BOS
+/SIGNAL_DESCRIPTION=BOS
+/EXPRESSION=DERIVED::BASE_OF_SUPPORT::BOS2
+/NUM_TARGETS=8
+;
+</code>
+==== Extrapolated_COG ====
+**EXTRAPOLATED_COG**(Signal,Signal,Model Metric)
+  * Computes the extrapolated COG or the [[https://www.sciencedirect.com/science/article/abs/pii/S0021929004001642?via%3Dihub|'extrapolated center of mass position']] using the following equation:
+  * xCoM = CoM + vCoM/sqrt(g/l)
+  * Expression requires three inputs:
+    * The first signal input is considered as the CoM position,
+    * second input is considered the velocity of the CoM,
+    * and the third input is the leg length of the model.
+Example: Deriving the extrapolated CoM
+<code>
+Evaluate_Expression
+/EXPRESSION=EXTRAPOLATED_COG(CURRENT_SIGNAL,MODEL::METRIC::LEG_LENGTH)
+/SIGNAL_TYPES=LINK_MODEL_BASED+LINK_MODEL_BASED
+/SIGNAL_FOLDER=ORIGINAL+ORIGINAL
+/SIGNAL_NAMES=COG+COG_VELOCITY
+! /RESULT_TYPES=DERIVED
+/RESULT_FOLDERS=BASE_OF_SUPPORT
+/RESULT_NAME=XCOG
+! /APPLY_AS_SUFFIX_TO_SIGNAL_NAME=FALSE
+;
+</code>
+==== Margin_Of_Stability ====