VelMANNInput struct
#include <BipedalLocomotion/ML/VelMANN.h>
VelMANNInput contains the input to the MANN network.
The base linear and angular velocity trajectories are written in a tridimensional local reference frame. At each step ti, L is defined to have its origin in the current robot base position and orientation.
Public static functions
- static auto generateDummyVelMANNInput(Eigen::Ref<const Eigen::VectorXd> jointPositions, std::size_t projectedBaseHorizon) -> VelMANNInput
- Generate a dummy VelMANNInput from a given joint configuration.
Public variables
- Eigen::Matrix3Xd baseLinearVelocityTrajectory
- Matrix containing the base linear velocity trajectory.
- Eigen::Matrix3Xd baseAngularVelocityTrajectory
- Matrix containing the base angular velocity trajectory.
- Eigen::VectorXd jointPositions
- Vector containing the actual joint position in radians.
- Eigen::VectorXd jointVelocities
- Vector containing the actual joint velocity in radians per seconds.
- Eigen::Vector3d basePosition
- Vector containing the actual base position in m.
- Eigen::Vector3d baseAngle
- Vector containing the actual base euler angles in radians.
Function documentation
static VelMANNInput BipedalLocomotion::
Generate a dummy VelMANNInput from a given joint configuration.
| Parameters | |
|---|---|
| jointPositions | vector containing the joint position in radians. |
| projectedBaseHorizon | number of samples of the base horizon considered in the neural network. |
| Returns | a dummy VelMANNInput. |
Variable documentation
Eigen::Matrix3Xd BipedalLocomotion::
Matrix containing the base linear velocity trajectory.
The rows contain the xyz linear velocity while the columns represent the velocity at each time instant.
Eigen::Matrix3Xd BipedalLocomotion::
Matrix containing the base angular velocity trajectory.
The rows contain the xyz angular velocity while the columns represent the velocity at each time instant.