struct
UKFInputThe UKFInput struct represents the input of the ukf needed to update the dynamics.
Public variables
- Eigen::VectorXd robotJointPositions
- Vector of joint positions.
- Eigen::VectorXd robotJointAccelerations
- Vector of joint accelerations.
- manif::SE3d robotBasePose
- Robot base position and orientation.
- manif::SE3d::Tangent robotBaseVelocity
- Robot base velocity.
- manif::SE3d::Tangent robotBaseAcceleration
- Robot base acceleration.