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| — | ref:step_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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| + | ====== StepMeasure ====== | ||
| + | [[measure|Measure]] for locomotion that penalizes stride length, stride duration, and/or stride velocity. | ||
| + | |||
| + | Example: < | ||
| + | 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|Measure]]. | ||
| + | |||
| + | ==== Public Attributes ==== | ||
| + | ^ Parameter ^ Type ^ Description ^ | ||
| + | ^ stride_length | [[range_penalty|RangePenalty]]< | ||
| + | ^ stride_duration | [[range_penalty|RangePenalty]]< | ||
| + | ^ stride_velocity | [[range_penalty|RangePenalty]]< | ||
| + | ^ 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 ' | ||
| + | ^ 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|Measure]], | ||
| + | ^ 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 '' | ||
| + | ^ 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|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. | | ||
| + | |||
| + | < | ||