BipedalLocomotion::Contacts::SchmittTriggerDetector class
#include <BipedalLocomotion/ContactDetectors/SchmittTriggerDetector.h>

Schmitt Trigger thresholding based contact detector that maintains and updates the contact states for a prescribed set of contacts.

Base classes

class ContactDetector

Constructors, destructors, conversion operators

SchmittTriggerDetector(): Constructor.
~SchmittTriggerDetector(): Destructor.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool override: Initialize the SchmittTriggerDetector with a parameters handler.
auto setTimedTriggerInput(const std::string& contactName, const Math::SchmittTriggerInput& input) -> bool: Set trigger input and time stamp for an existing SchmittTrigger unit.
auto setTimedTriggerInputs(const std::unordered_map<std::string, Math::SchmittTriggerInput>& timedInputs) -> bool: Set trigger input and time stamp for existing units.
auto addContact(const std::string& contactName, const BipedalLocomotion::Math::SchmittTriggerState& initialState, const BipedalLocomotion::Math::SchmittTrigger::Params& params) -> bool: Add a contact whose contact state need to be tracked.
auto resetState(const std::string& contactName, const bool& state) -> bool: Reset a contact's state.
auto resetContact(const std::string& contactName, const bool state, const BipedalLocomotion::Math::SchmittTrigger::Params& params) -> bool: Reset a contact's parameters.
auto removeContact(const std::string& contactName) -> bool: Remove contact from the Detector.
auto advance() -> bool final: Compute one step of the detector.

Function documentation

BipedalLocomotion::Contacts::SchmittTriggerDetector::SchmittTriggerDetector()

Constructor.

It is required by the pimpl idiom.

BipedalLocomotion::Contacts::SchmittTriggerDetector::~SchmittTriggerDetector()

Destructor.

It is required by the pimpl idiom.

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) override

Initialize the SchmittTriggerDetector with a parameters handler.

Parameters
handler in	configure the custom parameters for the detector.
Returns	True in case of success, false otherwise.

Note

The following parameters are required

Parameter Name	Type	Description	Mandatory
`contacts`	`vector<string>`	Vector containing the names of the contact. The name can be used to retrieve the current status of a contact with `ContactDetector::get`.	Yes
`contact_make_thresholds`	`vector<double>`	Vector containing High-value thresholds to initiate an ON state switch after switchOnAfter time-units. For each contact specified in `contacts` the user needs to specify an element of the vector.	Yes
`contact_break_thresholds`	`vector<double>`	Vector containing Low-value thresholds to initiate an ON state switch after switchOnAfter time-units. For each contact specified in `contacts` the user needs to specify an element of the vector.	Yes
`contact_make_switch_times`	`vector<double>`	Time units to wait for before switching to `contact` state from `no-contact` state. For each contact specified in `contacts` the user needs to specify an element of the vector.	Yes
`contact_break_switch_times`	`vector<double>`	Time units to wait for before switching to `no-contact` state from `contact` state. For each contact specified in `contacts` the user needs to specify an element of the vector.	Yes

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::setTimedTriggerInput(const std::string& contactName, const Math::SchmittTriggerInput& input)

Set trigger input and time stamp for an existing SchmittTrigger unit.

Parameters
contactName in	name of the contact
input in	the imput of the trigger containing the contact force and the time instant
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::setTimedTriggerInputs(const std::unordered_map<std::string, Math::SchmittTriggerInput>& timedInputs)

Set trigger input and time stamp for existing units.

Parameters
timedInputs in	container of timed trigger inputs, pair(first, second): (time, force)
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::addContact(const std::string& contactName, const BipedalLocomotion::Math::SchmittTriggerState& initialState, const BipedalLocomotion::Math::SchmittTrigger::Params& params)

Add a contact whose contact state need to be tracked.

Parameters
contactName in	name of the contact
initialState in	initial contact state
params in	Schmitt Trigger parameters
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::resetState(const std::string& contactName, const bool& state)

Reset a contact's state.

Parameters
contactName in	name of the contact
state
Returns	True in case of success, false if contact does not exist/otherwise.

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::resetContact(const std::string& contactName, const bool state, const BipedalLocomotion::Math::SchmittTrigger::Params& params)

Reset a contact's parameters.

Parameters
contactName in	name of the contact
state
params in	Schmitt Trigger parameters
Returns	True in case of success, false if contact does not exist/otherwise.

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::removeContact(const std::string& contactName)

Remove contact from the Detector.

Parameters
contactName in	name of the contact
Returns	True in case of success, false if does not exist/otherwise.

bool BipedalLocomotion::Contacts::SchmittTriggerDetector::advance() final

Compute one step of the detector.

Returns	True in case of success, false otherwise.

This method uses all the inputs and evaluate the contact status considering the Schmitt trigger output.