RobotDynamicsEstimatorInput struct
RobotDynamicsEstimatorInput of the RobotDynamicsEstimator containing both the inputs and the measurements for the Unscented Kalman Filter.
Public variables
- manif::SE3d basePose
- Pose describing the robot base position and orientation.
- manif::SE3d::Tangent baseVelocity
- Velocity of the robot base.
- manif::SE3d::Tangent baseAcceleration
- Mixed acceleration of the robot base.
- Eigen::VectorXd jointPositions
- Joints positions in rad.
- Eigen::VectorXd jointVelocities
- Joints velocities in rad per sec.
- Eigen::VectorXd motorCurrents
- Motor currents in Ampere.
- std::map<std::string, Eigen::VectorXd> ftWrenches
- Wrenches measured by force/torque sensors.
- std::map<std::string, Eigen::VectorXd> linearAccelerations
- Linear accelerations measured by accelerometer sensors.
- std::map<std::string, Eigen::VectorXd> angularVelocities
- Angular velocities measured by gyroscope sensors.
- Eigen::VectorXd friction
- Friction torques in Nm.