BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h file

Namespaces

namespace BipedalLocomotion

namespace BipedalLocomotion::Estimators

Classes

struct BipedalLocomotion::Estimators::BaseEstimatorFromFootIMUState

BaseEstimatorFromFootIMUState contains the internal state of the estimator.

struct BipedalLocomotion::Estimators::BaseEstimatorFromFootIMUInput

BaseEstimatorFromFootIMUInput contains the input of the BaseEstimatorFromFootIMU class.

class BipedalLocomotion::Estimators::BaseEstimatorFromFootIMU

BaseEstimatorFromFootIMU implements the propagation of the foot pose to the root link through the kinematic chain given by the leg joints positions.