BipedalLocomotion::ML::VelMANNTrajectoryGeneratorOutput struct

#include <BipedalLocomotion/ML/VelMANNTrajectoryGenerator.h>

Public variables

std::vector<Eigen::Vector3d> comTrajectory

CoM trajectory expressed in the inertial frame.

std::vector<Eigen::Vector3d> comVelocityTrajectory

CoM velocity trajectory expressed in the inertial frame.

std::vector<manif::SE3d::Tangent> baseVelocityTrajectory

base velocity trajectory expressed in mixed representation

std::vector<Eigen::Vector3d> angularMomentumTrajectory

Centroidal angular momentum trajectory expressed in the mixed representation.

std::vector<Eigen::VectorXd> jointPositions

Joints position in radians.

std::vector<Eigen::VectorXd> jointVelocities

Joint velocities in radians.

std::vector<manif::SE3d> basePoses

Vector containing the base pose for each instant.

std::vector<std::chrono::nanoseconds> timestamps

Vector containing the time stamps.

Contacts::ContactPhaseList phaseList

List of the contact phases.