struct
MANNFootStateMANNFootState contains the state of a foot in contact with the ground.
Public static functions
- static auto generateFootState(iDynTree::KinDynComputations& kindyn, const std::vector<Eigen::Vector3d>& corners, const std::string& footName, int footIndex) -> MANNFootState
- Generate a foot state.
Public variables
-
Contacts::
EstimatedContact contact - Contact state.
-
Math::
SchmittTriggerState schmittTriggerState - Schmitt trigger state.
- std::vector<Eigen::Vector3d> corners
- Corners of the foot.
Function documentation
static MANNFootState BipedalLocomotion:: ML:: MANNFootState:: generateFootState(iDynTree::KinDynComputations& kindyn,
const std::vector<Eigen::Vector3d>& corners,
const std::string& footName,
int footIndex)
Generate a foot state.
Parameters | |
---|---|
kindyn | an instance of KinDynComputations used to compute the foot position. |
corners | Vector containing the corners of the foot expressed in the foot frame (i.e., a frame attached to the foot sole with the x axis pointing forward, the y axis pointing to the left and the z axis pointing upward). |
footName | name of the foot. |
footIndex | index of the foot in the model. This is required to compute the foot position with the KinDynComputations object. |
Returns | a dummy MANNFootState. |