BipedalLocomotion/ML/VelMANNAutoregressive.h file

Namespaces

namespace BipedalLocomotion

namespace BipedalLocomotion::ML

Classes

struct BipedalLocomotion::ML::VelMANNFootState

VelMANNFootState contains the state of a foot in contact with the ground.

struct BipedalLocomotion::ML::VelMANNAutoregressiveInput

VelMANNAutoregressiveInput contains the unput to VelMANN network when used in autoregressive fashion.

struct BipedalLocomotion::ML::VelMANNAutoregressiveOutput

VelMANNAutoregressiveOutput contains the output to the VelMANN network when used in autoregressive fashion.

class BipedalLocomotion::ML::VelMANNAutoregressive

VelMANNAutoregressive is a class that allows to perform autoregressive inference with Mode-Adaptive Neural Networks (MANN).

struct BipedalLocomotion::ML::VelMANNAutoregressive::AutoregressiveState

AutoregressiveState contains all quantities required to reset the Advanceable The base position trajectory, base direction trajectory and base velocity trajectories are written in a bidimensional local reference frame L in which we assume all the quantities related to the ground-projected base trajectory in xi and yi to be expressed.