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ref:gait_state_controller [2020/11/30 13:10]
tgeijten [GaitStateController]
ref:gait_state_controller [2020/11/30 13:11]
tgeijten [GaitStateController]
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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): 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):
 +  * ''​Landing''​ -> ''​EarlyStance''​ occurs if ''​leg_load''​ is above **stance_load_threshold**.
   * ''​EarlyStance''​ -> ''​LateStance''​ occurs if ''​sagittal_pos''​ is below **late_stance_threshold**.   * ''​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**.   * ''​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**.   * ''​LiftOff''​ -> ''​Swing''​ occurs if ''​leg_load''​ is below **swing_load_threshold**.
   * ''​Swing''​ -> ''​Landing''​ occurs if ''​sagittal_pos''​ is above **landing_threshold**.   * ''​Swing''​ -> ''​Landing''​ occurs if ''​sagittal_pos''​ is above **landing_threshold**.
-  * ''​Landing''​ -> ''​EarlyStance''​ occurs if ''​leg_load''​ is above **stance_load_threshold**. 
  
 **Inherits from** [[controller|Controller]]. **Inherits from** [[controller|Controller]].