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ref:gait_measure [2019/10/23 15:06]
ref:gait_measure [2019/11/12 15:29] (current)
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 +====== GaitMeasure ======
 +[[measure|Measure]] for efficient locomotion at a predefined speed. ​
 +
 +**Inherits from** [[measure|Measure]].
 +
 +==== Public Attributes ====
 +^ Parameter ^ Type ^ Description ^
 +^ termination_height | Real | Relative COM height (wrt initial position) at which to stop the simulation; default = 0.5. |
 +^ min_velocity | Real | Minimum velocity [m/s]; default = 0 m/s. |
 +^ max_velocity | Real | Maximum velocity [m/s]; default = 299792458 m/s. |
 +^ load_threshold | Real | Load threshold for step detection; default = 0.1. |
 +^ min_step_duration | Real | Minimum duration [s] of a step, used for step detection; default = 0.1. |
 +^ initiation_steps | int | Number of initial steps of which the velocity is disregarded in the final measure; default = 2. |
 +^ name | String | Name of the [[measure|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; is set correctly by default. |
 +^ start_time | TimeInSeconds | Time [s] at which [[controller|Controller]] becomes active; default = 0. |
 +^ stop_time | TimeInSeconds | Time [s] at which [[controller|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. |
 +
 +<​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​