BipedalLocomotion::ML::VelMANNAutoregressiveOutput struct
#include <BipedalLocomotion/ML/VelMANNAutoregressive.h>

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

Public variables

Eigen::VectorXd jointsPosition
Joint positions in radians.
Eigen::VectorXd jointsVelocity
Joint velocities in radians.
manif::SE3d basePose
Base pose with respect to the inertial frame, i.e., ${}^I H_B$ .
manif::SE3d::Tangent baseVelocity
Base velocity in mixed representation.
Eigen::Vector3d comPosition
Position of the CoM with respect to the inertial frame.
Eigen::Vector3d comVelocity
Time derivative of the CoM position with respect to the inertial frame.
Eigen::Vector3d angularMomentum
Centroidal angular momentum.
manif::SE3d leftFootPose
Left foot pose with respect to the inertial frame, i.e., ${}^I H_B$ .
manif::SE3d rightFootPose
Right foot pose with respect to the inertial frame, i.e., ${}^I H_B$ .
Eigen::VectorXd leftFootVelocity
Left foot velocity with respect to the inertial frame, i.e., ${}^I H_B$ .
Eigen::VectorXd rightFootVelocity
Right foot velocity with respect to the inertial frame, i.e., ${}^I H_B$ .
Contacts::EstimatedContact leftFoot
Left foot contact.
Contacts::EstimatedContact rightFoot
Right foot contact.
std::chrono::nanoseconds currentTime
Current time stored in the advanceable.