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ref:gait_measure [2020/06/19 15:47] (current)
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 +====== GaitMeasure ======
 +[[measure|Measure]] for locomotion at a predefined speed, defined by the parameters ''​min_velocity''​ and (optionally) ''​max_velocity''​. ​
 +
 +The measure returns a value between ''​0''​ (velocity conditions are met) and ''​1''​ (model falls over immediately). In order to save simulation time and increasing optimization performance,​ the ''​termination_height''​ parameter is used to detect if the model has fallen, after which the simulation is terminated early (assuming it will not recover). It does so by comparing the center of mass (COM) height to the initial state, and terminates when ''​(COM-height / initial-COM-height) < termination_height''​. See Tutorials 4 and 5 for examples. ​
 +
 +**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. |
 +^ 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 = "​toes_l toes_r"​. |
 +^ 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. |
 +^ threshold_transition | Real | Transition range above ''​threshold''​ between which the measure linearly decreases to zero; default = 0. |
 +^ 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,​ 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>​
  
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