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— | ref:gait_state_controller [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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+ | ====== GaitStateController ====== | ||
+ | Finite State Machine controller that detects different phases of gait. | ||
+ | |||
+ | Supported states are: '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | * '' | ||
+ | |||
+ | See the [[ | gait tutorial]] for an example. | ||
+ | |||
+ | **Inherits from** [[controller|Controller]]. | ||
+ | |||
+ | ==== Public Attributes ==== | ||
+ | ^ Parameter ^ Type ^ Description ^ | ||
+ | ^ landing_threshold | Real | Relative sagittal distance [leg length] of the swing foot used for detecting LandingState; | ||
+ | ^ late_stance_threshold | Real | Relative sagittal distance [leg length] of the stance foot used for detecting LateStanceState; | ||
+ | ^ liftoff_threshold | Real | Relative sagittal distance [leg length] of the stance foot used for detecting LiftoffState; | ||
+ | ^ override_leg_length | Real | If defined, use custom leg length instead of deriving from model; default = [not set]. | | ||
+ | ^ leg_load_sensor_delay | Real | Neural delay [s] used for load sensors; default = 0. | | ||
+ | ^ stance_load_threshold | Real | Threshold load [bw] for detecting stance phase; default = 0. | | ||
+ | ^ swing_load_threshold | Real | Threshold load [bw] for detecting swing phase; default = stance_load_threshold. | | ||
+ | ^ use_model_com_reference_pos | Real | Use model COM as reference for relative sagittal_pos instead of base body COM; default = 0. | | ||
+ | ^ symmetric | bool | Bool indicating if control parameters should be the same for left and right; default = true. | | ||
+ | ^ omnidirectional | bool | Use omnidirectional control, not restricted to movent along the x-axis; default = 0. | | ||
+ | ^ name | String | Name of the controller, uses as a prefix for the control parameters; empty 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, | ||
+ | ^ 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. | | ||
+ | |||
+ | < | ||