ContactEstimator.h

Go to the documentation of this file.

#ifndef PROJECT_CONTACTESTIMATOR_H
#define PROJECT_CONTACTESTIMATOR_H

#include "Controllers/StateEstimatorContainer.h"

template <typename T>
class ContactEstimator : public GenericEstimator<T> {
 public:
  virtual void run() {
    this->_stateEstimatorData.result->contactEstimate =
        *this->_stateEstimatorData.contactPhase;
  }
  virtual void setup() {}
};

#endif  // PROJECT_CONTACTESTIMATOR_H