Differences
This shows you the differences between two versions of the page.
— | ref:gait_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
---|---|---|---|
Line 1: | Line 1: | ||
+ | ====== GaitMeasure ====== | ||
+ | [[measure|Measure]] for locomotion at a predefined speed, defined by the parameters '' | ||
+ | |||
+ | This measure returns a value between '' | ||
+ | |||
+ | **Inherits from** [[measure|Measure]]. | ||
+ | |||
+ | ==== Public Attributes ==== | ||
+ | ^ Parameter ^ Type ^ Description ^ | ||
+ | ^ termination_height | Real | Relative COM height at which to terminate the simulation, as a factor of the initial COM height; default = 0.5. | | ||
+ | ^ continue_after_fall | TimeInSeconds | Time to continue after fall is detected [s]; default = 0. | | ||
+ | ^ min_velocity | Real | Minimum velocity [m/s]; default = 0 m/s. | | ||
+ | ^ max_velocity | Real | Optional 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. | | ||
+ | ^ base_bodies | String | Name of the base bodies (i.e. feet), used for gait detection; default = " | ||
+ | ^ direction | Vec3 | Gait direction vector; default = [ 1 0 0 ]. | | ||
+ | ^ use_initial_heading | bool | Use initial heading for target direction; default = 0. | | ||
+ | ^ name | String | Name of the [[measure|Measure]], | ||
+ | ^ 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 '' | ||
+ | ^ 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|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, | ||
+ | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature | String | Set custom signature and omit the auto-generated signature. | | ||
+ | |||
+ | < | ||