struct
PlannedContactDefinition of a Planned Contact structure.
Base classes
- struct ContactBase
- Definition of the type of contact base class.
Public functions
- auto operator==(const PlannedContact& other) const -> bool
- The equality operator.
- auto operator!=(const PlannedContact& other) const -> bool
- The inequality operator.
- auto isContactActive(const std::chrono::nanoseconds& t) const -> bool
- Check if the contact is active at a give time instant.
Public variables
- std::chrono::nanoseconds activationTime
- Instant from which the contact can be considered active.
- std::chrono::nanoseconds deactivationTime
- Instant after which the contact is no more active.
Function documentation
bool BipedalLocomotion:: Contacts:: PlannedContact:: operator==(const PlannedContact& other) const
The equality operator.
Parameters | |
---|---|
other | The other object used for the comparison. |
Returns | True if the contacts are the same, false otherwise. |
bool BipedalLocomotion:: Contacts:: PlannedContact:: operator!=(const PlannedContact& other) const
The inequality operator.
Parameters | |
---|---|
other | The other object used for the comparison. |
Returns | True if the contacts are the different, false otherwise. |
bool BipedalLocomotion:: Contacts:: PlannedContact:: isContactActive(const std::chrono::nanoseconds& t) const
Check if the contact is active at a give time instant.
Parameters | |
---|---|
t | time instant at which we check if the contact is active. |
Returns | True if activationTime <= t < deactivationTime . |