BipedalLocomotion::Contacts::PlannedContact struct
#include <BipedalLocomotion/Contacts/Contact.h>

Definition 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.
auto toString() const -> std::string
Convert the contact to a string.

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.

std::string BipedalLocomotion::Contacts::PlannedContact::toString() const

Convert the contact to a string.

Returns A string containing the information of the contact.