BipedalLocomotion::Estimators::FloatingBaseEstimators::Measurements struct
#include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimatorIO.h>

Struct holding the elements of the measurements data.

Public variables

Eigen::Vector3d acc
Eigen::Vector3d gyro
accelerometer and gyroscope measurements expressed in IMU frame
Eigen::VectorXd encoders
Eigen::VectorXd encodersSpeed
Joint position and joint velocity measurements.
bool lfInContact
left foot contact state
bool rfInContact
right foot contact state
std::map<int, BipedalLocomotion::Contacts::EstimatedContact> stampedRelLandmarkPoses
stamped relative poses,
std::map<int, BipedalLocomotion::Contacts::EstimatedContact> stampedContactsStatus
stamped contact status,

Variable documentation

std::map<int, BipedalLocomotion::Contacts::EstimatedContact> BipedalLocomotion::Estimators::FloatingBaseEstimators::Measurements::stampedRelLandmarkPoses

stamped relative poses,

std::map<int, BipedalLocomotion::Contacts::EstimatedContact> BipedalLocomotion::Estimators::FloatingBaseEstimators::Measurements::stampedContactsStatus

stamped contact status,