16 lines
487 B
Python
16 lines
487 B
Python
import numpy as np
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class HysteresisContactDetector:
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def __init__(self, upper_limit, lower_limit):
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self.upper_limit = upper_limit
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self.lower_limit = lower_limit
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self.contact_state = np.zeros(4)
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def update(self, contact_forces):
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self.contact_state[np.where(contact_forces > self.upper_limit)[0]] = 1
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self.contact_state[np.where(contact_forces < self.lower_limit)[0]] = 0
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def getContactStates(self):
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return self.contact_state
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