BipedalLocomotion::ML::MANNAutoregressive::AutoregressiveState struct
#include <BipedalLocomotion/ML/MANNAutoregressive.h>

AutoregressiveState contains all quantities required to reset the Advanceable The base position trajectory, facing direction trajectory and base velocity trajectories are written in a bidimensional local reference frame L in which we assume all the quantities related to the ground-projected base trajectory in xi and yi to be expressed.

At each step ti, L is defined to have its origin in the current ground-projected robot base position and orientation defined by the current facing direction (along with its orthogonal vector).

Public variables

MANNInput previousMannInput
Mann Input at the previous time instant.
manif::SE2d I_H_FD
SE(2) transformation of the facing direction respect to the inertial frame.
std::deque<Eigen::Vector2d> pastProjectedBasePositions
Past projected base position, Each element of the deque contains the x and y position projected into the ground.
std::deque<Eigen::Vector2d> pastFacingDirection
Past projected facing direction, Each element of the deque contains the x and y direction projected into the ground.
std::deque<Eigen::Vector2d> pastProjectedBaseVelocity
Past projected base velocity, Each element of the deque contains the x and y velocity projected into the ground.