Merge branch 'master' into feature/UnicycleTrajectoryGenerator/setMea…

…suredTransform
ami-iit · Jan 30, 2025 · c724035 · c724035
2 parents a97a477 + f4ed878
commit c724035
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,7 +5,8 @@ All notable changes to this project are documented in this file.
 ### Added
 - Add `ZMPgenerator` to `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/916)
 - Add `VariableFeasibleRegionTaskVariableFeasibleRegionTask` in the TSID controller (https://github.com/ami-iit/bipedal-locomotion-framework/pull/922)
-- Add `setMeasuredTransform` in the `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/927)
+- Add `setFeetTransform` in the `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/927)
+- Add `getCurrentTime` to the `FixedFootDetector` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/928)
 
 ### Changed
 - Some improvements on the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)

diff --git a/src/Contacts/include/BipedalLocomotion/ContactDetectors/FixedFootDetector.h b/src/Contacts/include/BipedalLocomotion/ContactDetectors/FixedFootDetector.h
@@ -116,6 +116,12 @@ class FixedFootDetector : public ContactDetector
      * @return the fixed foot.
      */
     const EstimatedContact& getFixedFoot() const;
+
+    /**
+     * Get the fixed foot detector current time.
+     * @return the fixed foot detector current time.
+     */
+    const std::chrono::nanoseconds& getCurrentTime() const;
 };
 
 } // namespace Contacts

diff --git a/src/Contacts/src/FixedFootDetector.cpp b/src/Contacts/src/FixedFootDetector.cpp
@@ -266,3 +266,8 @@ const EstimatedContact& FixedFootDetector::getFixedFoot() const
     log()->error("{} Unable to find the fixed foot. This should never happen.", logPrefix);
     return m_dummyContact;
 }
+
+const std::chrono::nanoseconds& FixedFootDetector::getCurrentTime() const
+{
+    return m_currentTime;
+};