Bundles the contact state of all endeffectors. More...
#include <endeffectors.h>
Inheritance diagram for xpp::EndeffectorsContact:
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< EndeffectorID > | GetEEsOrdered () 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 149 of file endeffectors.h.
Constructor & Destructor Documentation
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inline |
Constructs a state, the default being 0 feet, none in contact.
- Parameters
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n_ee Number of endeffectors. in_contact True if all legs should be in contact, false otherwise.
Definition at line 156 of file endeffectors.h.
Member Function Documentation
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inline |
The number of endeffectors in contact with the environment.
Definition at line 162 of file endeffectors.h.
The documentation for this class was generated from the following file: