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ref:gait_state_controller [2020/01/03 14:19] |
ref:gait_state_controller [2020/11/30 13:10] tgeijten [GaitStateController] |
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| + | ====== GaitStateController ====== | ||
| + | Finite State Machine controller that detects different phases of gait. | ||
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| + | Supported states are: ''EarlyStance'', ''LateStance'', ''LiftOff'', ''Swing'', ''Landing''. | ||
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| + | The current state of a leg is defined through its current relative sagittal foot position (''sagittal_pos'') and the normalized load (''leg_load''). Transitions between states are defined as follows (see also public attributes below): | ||
| + | * ''EarlyStance'' -> ''LateStance'' occurs if ''sagittal_pos'' is below **late_stance_threshold**. | ||
| + | * ''LateStance'' -> ''LiftOff'' occurs if contralateral ''leg_load'' is above **stance_load_threshold** or ''sagittal_pos'' is below **liftoff_threshold**. | ||
| + | * ''LiftOff'' -> ''Swing'' occurs if ''leg_load'' is below **swing_load_threshold**. | ||
| + | * ''Swing'' -> ''Landing'' occurs if ''sagittal_pos'' is above **landing_threshold**. | ||
| + | * ''Landing'' -> ''EarlyStance'' occurs if ''leg_load'' is above **stance_load_threshold**. | ||
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| + | **Inherits from** [[controller|Controller]]. | ||
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| + | ==== Public Attributes ==== | ||
| + | ^ Parameter ^ Type ^ Description ^ | ||
| + | ^ landing_threshold | Real | Relative sagittal distance [m] of the swing foot used for detecting LandingState. | | ||
| + | ^ late_stance_threshold | Real | Relative sagittal distance [m] of the stance foot used for detecting LateStanceState. | | ||
| + | ^ liftoff_threshold | Real | Relative sagittal distance [m] of the stance foot used for detecting LiftoffState. | | ||
| + | ^ override_leg_length | Real | Use custom leg length instead of deriving from model; default = false. | | ||
| + | ^ 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. | | ||
| + | ^ symmetric | bool | Bool indicating if control parameters should be the same for left and right; default = 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. | | ||
| + | ^ name | String | Name of the controller, uses as a prefix for the control parameters; empty by default. | | ||
| + | ^ 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. | | ||
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| + | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub> | ||