VelMANNAutoregressiveInput struct
VelMANNAutoregressiveInput contains the unput to VelMANN network when used in autoregressive fashion.
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. 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 base direction (along with its orthogonal vector).
Derived classes
- struct VelMANNTrajectoryGeneratorInput
- Input of the planner.
Public variables
- Eigen::Matrix2Xd desiredFutureBaseTrajectory
- Matrix containing the future desired position trajectory.
- Eigen::Matrix2Xd desiredFutureBaseDirections
- Matrix containing the desired future base direction trajectory.
- Eigen::Matrix2Xd desiredFutureBaseVelocities
- Matrix containing the desired base velocity trajectory.
- Eigen::RowVectorXd desiredFutureBaseAngVelocities
- Matrix containing the desired base angular velocity trajectory around the z axis (yaw).
Variable documentation
Eigen::Matrix2Xd BipedalLocomotion::
Matrix containing the future desired position trajectory.
The rows contain the x and y position projected into the ground while the columns the position at each time instant.
Eigen::Matrix2Xd BipedalLocomotion::
Matrix containing the desired future base direction trajectory.
The rows contain the x and y direction projected into the ground while the columns the direction at each time instant.
Eigen::Matrix2Xd BipedalLocomotion::
Matrix containing the desired base velocity trajectory.
The rows contain the x and y velocity projected into the ground while the columns the position at each time instant.
Eigen::RowVectorXd BipedalLocomotion::
Matrix containing the desired base angular velocity trajectory around the z axis (yaw).
The columns denote the position at each time instant.