ContactListJsonParser.h file

Namespaces

namespace BipedalLocomotion
namespace BipedalLocomotion::Contacts

Functions

auto contactListMapFromJson(const std::string& filename) -> ContactListMap: Parse a ContactListMap from a JSON file.
auto contactListMapToJson(const ContactListMap& map, const std::string& filename) -> bool: Store a ContactListMap to a JSON file.

Function documentation

ContactListMap contactListMapFromJson(const std::string& filename)

Parse a ContactListMap from a JSON file.

Parameters
filename	the name of the file that should be loaded.
Returns	return a ContactListMap containing all the contacts.

Note

The JSON file should have a structure similar to the following example.

  {
   "my_left_foot": [
     {
       "activation_time": 0.0,
       "deactivation_time": 1.0,
       "index": 42,
       "name": "left_foot",
       "position": [
         0.5968800669521466,
         0.8232947158735686,
         -0.6048972614132321
       ],
       "quaternion": [
         -0.3149241877569222,
         -0.8968666065772184,
         0.18925645870451685,
         0.24624182993742819
       ]
     },
     {
       "activation_time": 2.0,
       "deactivation_time": 5.0,
       "index": 42,
       "name": "left_foot",
       "position": [
         0.10793991159086103,
         -0.0452058962756795,
         0.2577418495238488
       ],
       "quaternion": [
         0.09318476783085411,
         0.5701901104695768,
         -0.10052857125007243,
         -0.8099961995771466
       ]
     }
   ],
   "my_right_foot": [
     {
       "activation_time": 0.0,
       "deactivation_time": 3.0,
       "index": 33,
       "name": "right_foot",
       "position": [
         0.8323901360074013,
         0.2714234559198019,
         0.43459385886536617
       ],
       "quaternion": [
         -0.794180500610814,
         -0.17857274481750596,
         0.5769716176729885,
         -0.06702879722711332
       ]
     }
   ]
*}

The structure of each step replicates the attributes of PlannedContact

bool contactListMapToJson(const ContactListMap& map, const std::string& filename)

Store a ContactListMap to a JSON file.

Parameters
map	a ContactListMap containing the list of the contacts.
filename	the name of the file that should be loaded.
Returns	return true in case of success, failure otherwise.