ContactPhase struct
Struct 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::
Utility function to check if a list is present amongst the active contacts.
| Parameters | |
|---|---|
| key | The label of the list to be checked. |
| Returns | True if key is present amongst the active contacts. |
std::string BipedalLocomotion::
Convert the contact phase to a string.
| Returns | A string containing the information of the contact phase. |
|---|