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

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.

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).

Public static functions

static auto generateDummyAutoregressiveState(const VelMANNInput& input, const VelMANNOutput& output, const manif::SE3d& I_H_B, const VelMANNFootState& leftFootState, const VelMANNFootState& rightFootState, int mocapFrameRate, const std::chrono::nanoseconds& pastProjectedBaseHorizon) -> AutoregressiveState: Generate a dummy autoregressive state from the input.

Public variables

VelMANNOutput previousVelMannOutput: Output of the VelMANN network generated at the previous iteration.
VelMANNInput previousVelMannInput: Input to the VelMANN network at previous iteration.
manif::SE3d I_H_B_prev: SE(3) transformation of the base direction respect to the inertial frame.
std::deque<Eigen::Vector3d> pastProjectedBaseVelocity: Past base linear velocity, Each element of the deque contains the x, y, and z velocity.
std::deque<Eigen::Vector3d> pastProjectedBaseAngVelocity: Past base angular velocity, Each element of the deque contains x, y, and z angular velocity.
VelMANNFootState leftFootState: Left foot state.
VelMANNFootState rightFootState: Right foot state.
manif::SE3d I_H_B: SE(3) transformation of the base with respect to the inertial frame.
SupportFoot supportFoot: Support foot.
Eigen::Vector3d projectedContactPositionInWorldFrame: Projected contact position in world frame.
int supportCornerIndex: Index of the support corner.
std::chrono::nanoseconds time: Current time stored in the advanceable.
Eigen::Vector2d I_x_des: SE(3) transformation of the input reference base with respect to the inertial frame.
manif::SE3d I_H_ref: SE(3) transformation of the input reference base with respect to the inertial frame.

Function documentation

static AutoregressiveState BipedalLocomotion::ML::VelMANNAutoregressive::AutoregressiveState::generateDummyAutoregressiveState(const VelMANNInput& input, const VelMANNOutput& output, const manif::SE3d& I_H_B, const VelMANNFootState& leftFootState, const VelMANNFootState& rightFootState, int mocapFrameRate, const std::chrono::nanoseconds& pastProjectedBaseHorizon)

Generate a dummy autoregressive state from the input.

Parameters
input	input to the autoregressive model.
output	output of the autoregressive model.
I_H_B	SE(3) transformation of the base respect to the inertial frame.
leftFootState	left foot state.
rightFootState	right foot state.
mocapFrameRate	frame rate of the mocap data.
pastProjectedBaseHorizon	number of samples of the past base horizon considered in the neural network.
Returns	A dummy AutoregressiveState.

Variable documentation

std::chrono::nanoseconds BipedalLocomotion::ML::VelMANNAutoregressive::AutoregressiveState::time

Current time stored in the advanceable.

For the linear PID

Eigen::Vector2d BipedalLocomotion::ML::VelMANNAutoregressive::AutoregressiveState::I_x_des

SE(3) transformation of the input reference base with respect to the inertial frame.

For the rotational PID