MANNOutput struct
#include <BipedalLocomotion/ML/MANN.h>
MANNOutput contains the output to the MANN network.
The base position trajectory, facing 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. At each step ti, L is defined to have its origin in the current ground-projected robot base position and orientation defined by the current facing direction (along with its orthogonal vector).
Public static functions
- static auto generateDummyMANNOutput(Eigen::Ref<const Eigen::VectorXd> jointPositions, std::size_t futureProjectedBaseHorizon) -> MANNOutput
- Generate a dummy MANNOutput from a given joint configuration.
Public variables
- Eigen::Matrix2Xd futureBasePositionTrajectory
- Matrix containing the future base position trajectory.
- Eigen::Matrix2Xd futureFacingDirectionTrajectory
- Matrix containing the future base facing direction.
- Eigen::Matrix2Xd futureBaseVelocitiesTrajectory
- Matrix containing the future base velocity trajectory.
- Eigen::VectorXd jointPositions
- Vector containing the next joint position in radians.
- Eigen::VectorXd jointVelocities
- Vector containing the next joint velocity in radians per seconds.
- manif::SE2Tangentd projectedBaseVelocity
- Velocity of the base projected on the ground.
Function documentation
static MANNOutput BipedalLocomotion::
Generate a dummy MANNOutput from a given joint configuration.
| Parameters | |
|---|---|
| jointPositions | vector containing the joint positions in radians. |
| futureProjectedBaseHorizon | number of samples of the base horizon generated as output by the neural network. |
| Returns | a dummy MANNOutput. |
Variable documentation
Eigen::Matrix2Xd BipedalLocomotion::
Matrix containing the future base position trajectory.
The rows contains the x and y position projected into the ground while the columns the position at each time instant.
Eigen::Matrix2Xd BipedalLocomotion::
Matrix containing the future base facing direction.
The rows contains the x and y direction projected into the ground while the columns the position at each time instant.
Eigen::Matrix2Xd BipedalLocomotion::
Matrix containing the future base velocity trajectory.
The rows contains the x and y velocity projected into the ground while the columns the position at each time instant.