BipedalLocomotion::Contacts::ContactPhase struct

Struct defining a contact phase.

Each phase is characterized by a set of contacts which remain active for the entirety of the phase.

Public functions

auto isListIncluded(const std::string& key) const -> bool
Utility function to check if a list is present amongst the active contacts.

Public variables

std::chrono::nanoseconds beginTime
The phase initial time.
std::chrono::nanoseconds endTime
The phase end time.
std::unordered_map<std::string, ContactList::const_iterator> activeContacts
The set of contacts active during the phase.

Function documentation

bool BipedalLocomotion::Contacts::ContactPhase::isListIncluded(const std::string& key) const

Utility function to check if a list is present amongst the active contacts.

Parameters
key The label of the list to be checked.
Returns True if key is present amongst the active contacts.