struct
InternalStateStruct holding the elements of the state representation.
Public variables
- Eigen::Quaterniond imuOrientation
- Orientation of the base link IMU in the inertial frame (as a quaternion w,x,y,z)
- Eigen::Vector3d imuPosition
- Position of the base link IMU in the inertial frame.
- Eigen::Vector3d imuLinearVelocity
- linear part of the mixed-velocity representation of the IMU with respect to the inertial frame
- Eigen::Quaterniond lContactFrameOrientation
- Orientation of the left foot contact frame in the inertial frame (as a quaternion w,x,y,z)
- Eigen::Vector3d lContactFramePosition
- Position of the left foot contact frame in the inertial frame.
- Eigen::Quaterniond rContactFrameOrientation
- Orientation of the right foot contact frame in the inertial frame (as a quaternion w,x,y,z)
- Eigen::Vector3d rContactFramePosition
- Position of the right foot contact frame in the inertial frame.
- Eigen::Vector3d accelerometerBias
- Bias of the accelerometer expressed in the IMU frame.
- Eigen::Vector3d gyroscopeBias
- Bias of the gyroscope expressed in the IMU frame.
- Eigen::Vector3d imuAngularVelocity
- angular velocity of the IMU with respect to the inertial frame expressed in inertial frame, typically unused for strap-down IMU based EKF implementations
-
std::map<int, BipedalLocomotion::
Contacts:: EstimatedContact> supportFrameData - estimated contacts
-
std::map<int, BipedalLocomotion::
Contacts:: EstimatedLandmark> landmarkData - estimated landmarks