Merge pull request #25 Remove Robotics Package

build.gradle.kts

@@ -32,13 +32,6 @@ mainDependencies {
    api("us.ihmc:log-tools:0.6.3")
 }
 
-roboticsDependencies {
-   api(ihmc.sourceSetProject("main"))
-   api("us.ihmc:euclid-geometry:0.22.0")
-   api("us.ihmc:mecano:17-0.18.1")
-   api("net.sf.trove4j:trove4j:3.0.3")
-}
-
 testingDependencies {
    api(ihmc.sourceSetProject("main"))
    api(junit.jupiterApi())

src/main/java/us/ihmc/commons/time/TimeIntervalTools.java

@@ -1,5 +1,7 @@
 package us.ihmc.commons.time;
 
+import us.ihmc.commons.MathTools;
+
 import java.util.ArrayList;
 import java.util.Comparator;
 import java.util.List;
@@ -25,6 +27,32 @@ public class TimeIntervalTools
       return Double.compare(endTimeA, endTimeB);
    };
 
+   public static boolean areTimeIntervalsConsecutive(TimeIntervalProvider intervalA, TimeIntervalProvider intervalB, double epsilon)
+   {
+      return areTimeIntervalsConsecutive(intervalA.getTimeInterval(), intervalB.getTimeInterval(), epsilon);
+   }
+
+   public static boolean areTimeIntervalsConsecutive(TimeIntervalReadOnly intervalA, TimeIntervalReadOnly intervalB, double epsilon)
+   {
+      return MathTools.epsilonEquals(intervalA.getEndTime(), intervalB.getStartTime(), epsilon);
+   }
+
+   public static boolean isTimeSequenceContinuous(List<? extends TimeIntervalProvider> contactStateSequence)
+   {
+      return isTimeSequenceContinuous(contactStateSequence, 5e-3);
+   }
+
+   public static boolean isTimeSequenceContinuous(List<? extends TimeIntervalProvider> contactStateSequence, double epsilon)
+   {
+      for (int index = 0; index < contactStateSequence.size() - 1; index++)
+      {
+         if (!areTimeIntervalsConsecutive(contactStateSequence.get(index), contactStateSequence.get(index + 1), epsilon))
+            return false;
+      }
+
+      return true;
+   }
+
    /**
     * Checks whether or not interval A and interval B overlap any. That is, is the intersection between the two intervals non-empty.
     * @return true if A overlaps with B