Export rms, add param rms to damage

Author: ufechner7

src/WinchControllers.jl

@@ -18,7 +18,7 @@ export merge_angles, @limit, saturate
 export SpeedController, set_inactive, set_v_act, set_v_set, set_v_set_in, set_tracking, get_v_set_out
 export LowerForceController, UpperForceController
 export get_startup, get_triangle_wind
-export WCLogger, log, f_err, v_err, gamma, damage
+export WCLogger, log, f_err, v_err, gamma, damage, rms
 
 abstract type AbstractForceController end
 const AFC = AbstractForceController

src/logging.jl

@@ -157,10 +157,18 @@ function v_err(logger::WCLogger)
     1/v_mean * rms(filter(!isnan, logger.v_err))
 end
 
-function damage(logger::WCLogger)
+function damage(logger::WCLogger; rms= false)
+    if rms
+        return damage2(logger)
+    end
     logger.damage_factor * (maximum(norm.(logger.acc)) / logger.max_acc)^2
 end
 
+function damage2(logger::WCLogger)
+    rms_damage = rms(filter(!isnan, logger.acc))
+    logger.damage_factor * (0.5*rms_damage + 0.5*(maximum(norm.(logger.acc)) / logger.max_acc)^2)
+end
+
 """
     gamma(logger::WCLogger)