struct
ContactPhaseStruct 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.
- auto toString() const -> std::string
- Convert the contact phase to a string.
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 | |
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key | The label of the list to be checked. |
Returns | True if key is present amongst the active contacts. |
std::string BipedalLocomotion:: Contacts:: ContactPhase:: toString() const
Convert the contact phase to a string.
Returns | A string containing the information of the contact phase. |
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