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+====== GaitStateController ======
+Finite State Machine controller that detects different phases of gait.
+Supported states are: ''EarlyStance'', ''LateStance'', ''LiftOff'', ''Swing'', ''Landing''. See the gait tutorial  for an example.
+**Inherits from** [[controller|Controller]].
+==== 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. |
+<sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub>