This page is read only. You can view the source, but not change it. Ask your administrator if you think this is wrong. ====== StepMeasure ====== [[measure|Measure]] for locomotion that penalizes stride length, stride duration, and/or stride velocity. Example: <code>StepMeasure { stride_duration { min = 0.2 max = 0.5 abs_penalty = 1 } stride_length { min = 1.0 max = 1.4 abs_penalty = 1 } } </code> **Inherits from** [[measure|Measure]]. ==== Public Attributes ==== ^ Parameter ^ Type ^ Description ^ ^ stride_length | [[range_penalty|RangePenalty]]< double > | Penalty for stride length [m] when out of range (Optional); default range [-inf, inf]. | ^ stride_duration | [[range_penalty|RangePenalty]]< double > | Penalty for stride duration [s] when out of range (Optional); default range [-inf, inf]. | ^ stride_velocity | [[range_penalty|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|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|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, SCONE_VERSION. | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. | ^ signature | String | Set custom signature and omit the auto-generated signature. | <sub>Converted from doxygen using [[https://github.com/tgeijten/dokugen|dokugen]]</sub>