BipedalLocomotion::ML::MANNAutoregressiveInputBuilder class
#include <BipedalLocomotion/ML/MANNAutoregressiveInputBuilder.h>

Base classes

template<class _Input, class _Output> class BipedalLocomotion::System::Advanceable<MANNDirectionalInput, MANNAutoregressiveInput>: Basic class that represents a discrete system.

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool override: Initialize the trajectory builder.
auto setInput(const Input& input) -> bool override: Set the input to the planner model.
auto advance() -> bool override: Generate the trajectory.
auto isOutputValid() const -> bool override: Check if the output is valid.
auto getOutput() const -> const Output& override: Get the output from trajectory.

Initialize the trajectory builder.

Parameters
paramHandler	pointer to the parameters handler.
Returns	True in case of success, false otherwise.

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`base_vel_norm`	`double`	Norm of the desired base velocity in m/s	Yes
`ellipsoid_forward_axis`	`double`	Size of the forward axis ellipsoid in meters	Yes
`ellipsoid_backward_axis`	`double`	Size of the backward axis ellipsoid in meters	Yes
`ellipsoid_side_axis`	`double`	Size of the lateral axis ellipsoid in meters	Yes
`ellipsoid_scaling_factor`	`double`	Scaling factor considered in the generation of the final and control points of the Bezier Curve	Yes
`max_facing_direction_angle_forward`	`double`	Maximum angle of the facing direction when the robot is walking forward	Yes
`max_facing_direction_angle_backward`	`double`	Maximum angle of the facing direction when the robot is walking backward	Yes
`max_facing_direction_angle_side_opposite_sign`	`double`	Maximum angle of the facing direction when the robot is walking lateral and is facing towards the walking direction	Yes
`max_facing_direction_angle_side_same_sign`	`double`	Maximum angle of the facing direction when the robot is walking lateral and is facing towards the opposite of the walking direction	Yes
`number_of_knots`	`int`	Number of knots considered in the Bezier curve	Yes
`forward_direction_threshold`	`double`	The minimum value for the normalized user-specified motion direction to be interpreted as forward motion (Default value 0.2)	No
`side_direction_threshold`	`double`	The minimum value for the normalized user-specified motion direction to be interpreted as side motion (Default value 0.2)	No

Set the input to the planner model.

Parameters
input	input to the model
Returns	true in case of success, false otherwise.

Generate the trajectory.

Returns	true in case of success, false otherwise.

Check if the output is valid.

Returns	true if the output is valid, false otherwise.

Get the output from trajectory.

Returns	the output of the system.