struct
BaseEstimatorFromFootIMUInputBaseEstimatorFromFootIMUInput contains the input of the BaseEstimatorFromFootIMU class.
Public variables
- Eigen::VectorXd jointPositions
- vector of the robot joint positions
- Eigen::VectorXd jointVelocities
- vector of the robot joint velocities
- manif::SE3d desiredFootPose
- desired orientation and position of the foot as per footstep planner output
- manif::SO3d measuredRotation
- actual orientation of the foot measured by on-board IMU