Public Member Functions | List of all members
xpp::EndeffectorsContact Class Reference

Bundles the contact state of all endeffectors. More...

#include <endeffectors.h>

Inheritance diagram for xpp::EndeffectorsContact:
Inheritance graph
[legend]

Public Member Functions

 EndeffectorsContact (int n_ee=0, bool in_contact=false)
 Constructs a state, the default being 0 feet, none in contact. More...
 
int GetContactCount () const
 The number of endeffectors in contact with the environment. More...
 
- Public Member Functions inherited from xpp::Endeffectors< bool >
bool & at (EndeffectorID ee)
 Read/write access to the endeffector stored at index ee. More...
 
const bool & at (EndeffectorID ee) const
 Read access to the endeffector stored at index ee. More...
 
 Endeffectors (int n_ee=0)
 
int GetEECount () const
 
std::vector< EndeffectorIDGetEEsOrdered () const
 
bool operator!= (const Endeffectors &other) const
 
const EndeffectorsT operator- (const EndeffectorsT &rhs) const
 
const EndeffectorsT operator/ (double scalar) const
 
void SetAll (const bool &value)
 Sets each endeffector to the same value. More...
 
void SetCount (int n_ee)
 Sets the number of endeffectors. More...
 
Container ToImpl () const
 
virtual ~Endeffectors ()=default
 

Additional Inherited Members

- Public Types inherited from xpp::Endeffectors< bool >
using Container = std::deque< bool >
 
using EndeffectorsT = Endeffectors< bool >
 

Detailed Description

Bundles the contact state of all endeffectors.

Says if an endeffector is currently touching the environment or not. This is often an important criteria for motion planning, as only in the contact state can forces be exerted that move the body.

Definition at line 176 of file endeffectors.h.

Constructor & Destructor Documentation

◆ EndeffectorsContact()

xpp::EndeffectorsContact::EndeffectorsContact ( int  n_ee = 0,
bool  in_contact = false 
)
inline

Constructs a state, the default being 0 feet, none in contact.

Parameters
n_eeNumber of endeffectors.
in_contactTrue if all legs should be in contact, false otherwise.

Definition at line 183 of file endeffectors.h.

Member Function Documentation

◆ GetContactCount()

int xpp::EndeffectorsContact::GetContactCount ( ) const
inline

The number of endeffectors in contact with the environment.

Definition at line 189 of file endeffectors.h.


The documentation for this class was generated from the following file:


xpp_states
Author(s): Alexander W. Winkler
autogenerated on Wed Mar 2 2022 01:14:14