struct
AutoregressiveStateAutoregressiveState 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 static functions
- static auto generateDummyAutoregressiveState(const MANNInput& input, const MANNOutput& output, const manif::SE3d& I_H_B, const MANNFootState& leftFootState, const MANNFootState& rightFootState, int mocapFrameRate, const std::chrono::nanoseconds& pastProjectedBaseHorizon) -> AutoregressiveState
- Generate a dummy autoregressive state from the input.
Public variables
- MANNOutput previousMANNOutput
- Output of the MANN network generated at the previous iteration.
- MANNInput previousMANNInput
- Input to the MANN network at previous iteration.
- 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.
- MANNFootState leftFootState
- Left foot state.
- MANNFootState rightFootState
- Right foot state.
- manif::SE3d I_H_B
- SE(3) transformation of the base respect to the inertial frame.
- SupportFoot supportFoot
- Support foot.
- Eigen::Vector3d projectedContactPositionInWorldFrame
- Projected contact position in world frame.
- int supportCornerIndex
- Index of the support corner.
- std::chrono::nanoseconds time
- Current time stored in the advanceable.
Function documentation
static AutoregressiveState BipedalLocomotion:: ML:: MANNAutoregressive:: AutoregressiveState:: generateDummyAutoregressiveState(const MANNInput& input,
const MANNOutput& output,
const manif::SE3d& I_H_B,
const MANNFootState& leftFootState,
const MANNFootState& rightFootState,
int mocapFrameRate,
const std::chrono::nanoseconds& pastProjectedBaseHorizon)
Generate a dummy autoregressive state from the input.
Parameters | |
---|---|
input | input to the autoregressive model. |
output | output of the autoregressive model. |
I_H_B | SE(3) transformation of the base respect to the inertial frame. |
leftFootState | left foot state. |
rightFootState | right foot state. |
mocapFrameRate | frame rate of the mocap data. |
pastProjectedBaseHorizon | number of samples of the past base horizon considered in the neural network. |
Returns | A dummy AutoregressiveState. |