VelMANNOutput struct
#include <BipedalLocomotion/ML/VelMANN.h>
MANNOutput contains the output 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 generateDummyVelMANNOutput(Eigen::Ref<const Eigen::VectorXd> jointPositions, std::size_t futureProjectedBaseHorizon) -> VelMANNOutput
- Generate a dummy MANNOutput from a given joint configuration.
Public variables
- Eigen::Matrix3Xd futureBaseLinearVelocityTrajectory
- Matrix containing the future base linear velocity trajectory.
- Eigen::Matrix3Xd futureBaseAngularVelocityTrajectory
- Matrix containing the future base angular 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.
- Eigen::Vector3d basePosition
- Vector containing the next base position in m.
- Eigen::Vector3d baseAngle
- Vector containing the next base euler angles in radians.
Function documentation
static VelMANNOutput 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::Matrix3Xd BipedalLocomotion::
Matrix containing the future 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 future base angular velocity trajectory.
The rows contain the xyz angular velocity while the columns represent the velocity at each time instant.