BipedalLocomotion/ML/MANNAutoregressive.h file

Namespaces

namespace BipedalLocomotion

namespace BipedalLocomotion::ML

Classes

struct BipedalLocomotion::ML::MANNFootState

MANNFootState contains the state of a foot in contact with the ground.

struct BipedalLocomotion::ML::MANNAutoregressiveInput

MANNAutoregressiveInput contains the unput to MANN network when used in autoregressive fashion.

struct BipedalLocomotion::ML::MANNAutoregressiveOutput

MANNAutoregressiveOutput contains the output to the MANN network when used in autoregressive fashion.

class BipedalLocomotion::ML::MANNAutoregressive

MANNAutoregressive is a class that allows to perform autoregressive inference with Mode-Adaptive Neural Networks (MANN).

struct BipedalLocomotion::ML::MANNAutoregressive::AutoregressiveState

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.