class
ContactDetector
Base classes
-
template<class Output>class BipedalLocomotion::System::Source<EstimatedContactList>
- Source is a template specialization of Advanceable and represents a block that does not contains input.
Derived classes
- class FixedFootDetector
- The FixedFootDetector is a class that can be used to find the fixed foot given a sequence of contacts.
- class SchmittTriggerDetector
- Schmitt Trigger thresholding based contact detector that maintains and updates the contact states for a prescribed set of contacts.
Constructors, destructors, conversion operators
- ~ContactDetector() defaulted virtual
Public functions
- auto isOutputValid() const -> bool final
- Determines the validity of the object retrieved with get()
- auto getOutput() const -> const EstimatedContactList& final
- Get contact states.
- auto resetContacts() -> bool
- Reset the internal contact states of the detector to false.
-
auto get(const std::string& contactName,
Contacts::
EstimatedContact& contact) const -> bool - Get state of specific contact.
-
auto get(const std::string& contactName) const -> Contacts::
EstimatedContact - Get state of specific contact.
Protected types
- enum class State { NotInitialized, Initialized, Running }
- Enumerator used to determine the running state of the estimator.
Protected variables
- State m_detectorState
- State of the estimator.
- EstimatedContactList m_contactStates
Enum documentation
enum class BipedalLocomotion:: Contacts:: ContactDetector:: State protected
Enumerator used to determine the running state of the estimator.
Enumerators | |
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NotInitialized |
The estimator is not initialized yet call ContactDetector::initialze method to initialize it. |
Initialized |
The estimator is initialized and ready to be used. |
Running |
The estimator is running. |
Function documentation
bool BipedalLocomotion:: Contacts:: ContactDetector:: isOutputValid() const final
Determines the validity of the object retrieved with get()
Returns | True in case of success, false otherwise. |
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const EstimatedContactList& BipedalLocomotion:: Contacts:: ContactDetector:: getOutput() const final
Get contact states.
Returns | container of contacts |
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bool BipedalLocomotion:: Contacts:: ContactDetector:: resetContacts()
Reset the internal contact states of the detector to false.
Returns | True in case of success, false otherwise. |
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bool BipedalLocomotion:: Contacts:: ContactDetector:: get(const std::string& contactName,
Contacts:: EstimatedContact& contact) const
Get state of specific contact.
Parameters | |
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contactName in | name of contact |
contact out | estimated contact |
Returns | true if contact exists, false otherwise |
Contacts:: EstimatedContact BipedalLocomotion:: Contacts:: ContactDetector:: get(const std::string& contactName) const
Get state of specific contact.
Parameters | |
---|---|
contactName in | name of contact |
Returns | contact state if contact exists, a dummy contact otherwise |