Implement inequality operator for the PlannedContact class (#750)

CHANGELOG.md

@@ -14,6 +14,7 @@ All notable changes to this project are documented in this file.
 - Implement `GlobalCoPEvaluator` in `Contacts` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/745)
 - Implement `Wrench::getLocalCoP()` method (https://github.com/ami-iit/bipedal-locomotion-framework/pull/745)
 - Add tests for classes of `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/743)
+- Implement inequality operator for the `PlannedContact` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/750)
 
 ### Changed
 - Remove the possibility to disable the telemetry in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)

bindings/python/Contacts/src/Contacts.cpp

@@ -73,6 +73,7 @@ void CreateContact(pybind11::module& module)
         .def_readwrite("deactivation_time", &PlannedContact::deactivationTime)
         .def("__repr__", &toString)
         .def("__eq__", &PlannedContact::operator==, py::is_operator())
+        .def("__neq__", &PlannedContact::operator!=, py::is_operator())
         .def("is_contact_active", &PlannedContact::isContactActive);
 
     py::class_<EstimatedContact, ContactBase>(module, "EstimatedContact")

src/Contacts/include/BipedalLocomotion/Contacts/Contact.h

@@ -89,6 +89,14 @@ struct PlannedContact : ContactBase
      */
     bool operator==(const PlannedContact& other) const;
 
+    /**
+     * @brief The inequality operator.
+     *
+     * @param other The other object used for the comparison.
+     * @return True if the contacts are the different, false otherwise.
+     */
+    bool operator!=(const PlannedContact& other) const;
+
     /**
      * @brief Check if the contact is active at a give time instant
      *

src/Contacts/src/Contact.cpp

@@ -13,8 +13,7 @@ using namespace BipedalLocomotion::Contacts;
 
 bool PlannedContact::operator==(const PlannedContact& other) const
 {
-    bool eq = true;
-    eq = eq && this->activationTime == other.activationTime;
+    bool eq = this->activationTime == other.activationTime;
     eq = eq && this->name == other.name;
     eq = eq && this->type == other.type;
     eq = eq && this->pose.coeffs() == other.pose.coeffs();
@@ -23,6 +22,11 @@ bool PlannedContact::operator==(const PlannedContact& other) const
     return eq;
 }
 
+bool PlannedContact::operator!=(const PlannedContact& other) const
+{
+    return !this->operator==(other);
+}
+
 bool PlannedContact::isContactActive(const std::chrono::nanoseconds& t) const
 {
     return (this->activationTime <= t) && (t < this->deactivationTime);