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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> | ||