AnymalStateEstimator
The state estimator for anymal.
anymal_state_estimator::Contact Struct Reference

#include <Contact.hpp>

Public Types

using ContactState = typename robot_utils::ContactDetectorBase::ContactState
 

Public Attributes

bool flag_ {false}
 
bool previousFlag_ {false}
 
ContactState state_ {ContactState::OPEN}
 
any_measurements::Time stamp_
 
kindr::Position3D contactPointInOdom_
 
any_measurements::Time lastContactTime_
 
kindr::Position3D lastContactPointInOdom_
 

Member Typedef Documentation

◆ ContactState

using anymal_state_estimator::Contact::ContactState = typename robot_utils::ContactDetectorBase::ContactState

Member Data Documentation

◆ contactPointInOdom_

kindr::Position3D anymal_state_estimator::Contact::contactPointInOdom_

◆ flag_

bool anymal_state_estimator::Contact::flag_ {false}

◆ lastContactPointInOdom_

kindr::Position3D anymal_state_estimator::Contact::lastContactPointInOdom_

◆ lastContactTime_

any_measurements::Time anymal_state_estimator::Contact::lastContactTime_

◆ previousFlag_

bool anymal_state_estimator::Contact::previousFlag_ {false}

◆ stamp_

any_measurements::Time anymal_state_estimator::Contact::stamp_

◆ state_

ContactState anymal_state_estimator::Contact::state_ {ContactState::OPEN}

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