#include <WheelContact.h>

Public Member Functions
void	configure (const Dictionary &config)
	Read parameters from a configuration dictionary. More...

Public Attributes
double	liftoff_inertia
	Hysteresis value of the apparent inertia that triggers liftoff detection, in m²·kg.

double	cutoff_period
	Low-pass filtering time constant, in seconds.

double	min_touchdown_acceleration
	Skip touchdown detection below this acceleration, in rad/s². More...

double	min_touchdown_torque
	Skip touchdown detection below this torque, in N⋅m.

double	touchdown_inertia
	Hysteresis value of the apparent inertia that triggers touchdown detection, in m²·kg.

Detailed Description

Observer parameters.

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

Public Member Functions