<commit_before>#ifndef FOOT_CONTACT_CLASSIFY_HPP_
#define FOOT_CONTACT_CLASSIFY_HPP_
// 1. I think I saw drc-foot-state publish that both feet were in contact when it was actually in the air
// 2. Obviously the foot will not make perfectly flat contact with the ground - esp with BDI's walking mode
//    Thus integrating JK or even just using constraints between consequtive JK measurements seems quite flawed

#include <iostream>
#include <sstream>      // std::stringstream
#include <Eigen/Dense>
#include <Eigen/StdVector>

#include <boost/shared_ptr.hpp>
#include <lcm/lcm-cpp.hpp>
#include <pointcloud_tools/pointcloud_vis.hpp>
#include <estimate_tools/Filter.hpp>
#include <estimate_tools/SignalTap.hpp> // SchmittTrigger
#include "lcmtypes/drc/foot_contact_estimate_t.hpp"

#include <foot_contact/TwoLegsEstimate_types.h>

enum walkmode { 
  UNKNOWN = -1,
  LEFT_PRIME_RIGHT_STAND = 0, //0 both in contact, left has been for longer 
  LEFT_PRIME_RIGHT_BREAK = 1, //1 .... 
  LEFT_PRIME_RIGHT_SWING = 2, //2 left in contact, right raised  
  LEFT_PRIME_RIGHT_STRIKE= 3, //3 
  LEFT_STAND_RIGHT_PRIME = 4, //4
  LEFT_BREAK_RIGHT_PRIME = 5, //5
  LEFT_SWING_RIGHT_PRIME = 6, //6
  LEFT_STRIKE_RIGHT_PRIME= 7, //7
  
};
<commit_msg>missing type previously in dehann's types directory<commit_after>#ifndef FOOT_CONTACT_CLASSIFY_HPP_
#define FOOT_CONTACT_CLASSIFY_HPP_
// 1. I think I saw drc-foot-state publish that both feet were in contact when it was actually in the air
// 2. Obviously the foot will not make perfectly flat contact with the ground - esp with BDI's walking mode
//    Thus integrating JK or even just using constraints between consequtive JK measurements seems quite flawed

#include <iostream>
#include <sstream>      // std::stringstream
#include <Eigen/Dense>
#include <Eigen/StdVector>

#include <boost/shared_ptr.hpp>
#include <lcm/lcm-cpp.hpp>
#include <pointcloud_tools/pointcloud_vis.hpp>
#include <estimate_tools/Filter.hpp>
#include <estimate_tools/SignalTap.hpp> // SchmittTrigger
#include "lcmtypes/drc/foot_contact_estimate_t.hpp"

//#include <foot_contact/TwoLegsEstimate_types.h>
#define LEFTFOOT  0
#define RIGHTFOOT 1

class FootSensing { 
public:
  FootSensing(double force_z, double torque_x, double torque_y):
    force_z (force_z), torque_x (torque_x), torque_y(torque_y){};
  float force_z;
  float torque_x;
  float torque_y;
};


enum walkmode { 
  UNKNOWN = -1,
  LEFT_PRIME_RIGHT_STAND = 0, //0 both in contact, left has been for longer 
  LEFT_PRIME_RIGHT_BREAK = 1, //1 .... 
  LEFT_PRIME_RIGHT_SWING = 2, //2 left in contact, right raised  
  LEFT_PRIME_RIGHT_STRIKE= 3, //3 
  LEFT_STAND_RIGHT_PRIME = 4, //4
  LEFT_BREAK_RIGHT_PRIME = 5, //5
  LEFT_SWING_RIGHT_PRIME = 6, //6
  LEFT_STRIKE_RIGHT_PRIME= 7, //7
  
};

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