Contacts namespace
Classes
- class ContactDetector
- 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.
- struct ContactBase
- Definition of the type of contact base class.
- struct PlannedContact
- Definition of a Planned Contact structure.
- struct EstimatedContact
- Definition of an Estimated Contact structure.
- struct ContactWrench
- Definition of an ContactWrench structure.
- struct Corner
- Definition of a corner.
- struct DiscreteGeometryContact
- DiscreteGeometryContact is a contact which is represented by a set of corners that exchanges a pure force whith the enviroment.
- class ContactList
- Class containing a list of contacts.
- struct ContactPhase
- Struct defining a contact phase.
- class ContactPhaseList
- The ContactPhaseList class computes the contact phases according to a bunch of input contact lists.
- class GlobalCoPEvaluator
- GlobalCoPEvaluator is a class that computes the global CoP given a set of contact wrenches.
Enums
- enum class ContactType { FULL, POINT }
- Definition of the type of contact.
Typedefs
-
using EstimatedContactList = std::unordered_map<std::string, Contacts::
EstimatedContact> - using EstimatedLandmark = EstimatedContact
- using ContactListMap = std::unordered_map<std::string, ContactList>
- Utility alias to a map of ContacLists.
Functions
- auto contactListMapFromJson(const std::string& filename) -> ContactListMap
- Parse a ContactListMap from a JSON file.
- auto contactListMapToJson(const ContactListMap& map, const std::string& filename) -> bool
- Store a ContactListMap to a JSON file.