BipedalLocomotion::Contacts::ContactPhase struct
#include <BipedalLocomotion/Contacts/ContactPhase.h>

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.

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.

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.