src/inekf.cpp
// Set the filter's contact state

Set the filter's contact state
Set the filter ' s contact state
void InEKF::setContacts(const vector<std::pair<int,bool>>& contacts) {
  for (const auto& e : contacts) {
    std::pair<map<int,bool>::iterator,bool> ret = contacts_.insert(e);
    if (ret.second==false) {
      ret.first->second = e.second;
    }
  }
  return;
}
void InEKF :: setContacts ( const vector < std :: pair < int , bool > > & contacts ) { for ( const auto & e : contacts ) { std :: pair < map < int , bool > :: iterator , bool > ret = contacts_ . insert ( e ) ; if ( ret . second == false ) { ret . first -> second = e . second ; } } return ; }
Set the filter's contact state
Set the filter ' s contact state
// Insert new measured contact states
 // If contact is already in the map, replace with new value
