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--- visual3d:documentation:pipeline:expressions:intersection_functions [2025/01/24 20:38] – wikisysop
+++ visual3d:documentation:pipeline:expressions:intersection_functions [2025/01/27 20:25] (current) – wikisysop
@@ Line 310: / Line 310: @@
 ;
 </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 ====