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ref:step_measure [2020/06/19 15:47] (current)
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 +====== 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. |
 +
 +<​sub>​Converted from doxygen using [[https://​github.com/​tgeijten/​dokugen|dokugen]]</​sub>​
  
  • (external edit)