StepMeasure

Measure for locomotion that penalizes stride length, stride duration, and/or stride velocity.

Example:

StepMeasure {
    stride_duration { min = 0.2 max = 0.5 abs_penalty = 1 }
    stride_length { min = 1.0 max = 1.4 abs_penalty = 1 }
}

Inherits from Measure.

Public Attributes

Parameter Type Description
stride_length RangePenalty< double > Penalty for stride length [m] when out of range (Optional); default range [-inf, inf].
stride_duration RangePenalty< double > Penalty for stride duration [s] when out of range (Optional); default range [-inf, inf].
stride_velocity RangePenalty< double > Penalty for velocity [m/s] when out of range (Optional); default range [-inf, inf].
load_threshold Real Load threshold for step detection; default = 0.01.
min_stance_duration_threshold Real Minimum duration of the stance phase [s], shorter contacts are considered as 'bump' during the swing phase; default = 0.2.
initiation_cycles int Number of initial gait cycles of which the calculation is disregarded in the final measure; default = 1 (>0).
name String Name of the 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 becomes active; default = 0.
stop_time TimeInSeconds Time [s] at which 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.

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