BipedalLocomotion::Contacts::EstimatedContact struct

#include <BipedalLocomotion/Contacts/Contact.h>

Definition of an Estimated Contact structure.

Base classes

struct ContactBase

Definition of the type of contact base class.

Public functions

auto getContactDetails() const -> std::pair<bool, std::chrono::nanoseconds>

void setContactStateStamped(const std::pair<bool, std::chrono::nanoseconds>& pair)

Public variables

std::chrono::nanoseconds switchTime

Instant at which the contact state was toggled.

bool isActive

Current state of contact.

std::chrono::nanoseconds lastUpdateTime

Time at which the contact details were last updated This field helps in forgetting contacts.