BipedalLocomotion::Estimators::BaseEstimatorFromFootIMUInput struct
#include <BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h>

BaseEstimatorFromFootIMUInput contains the input of the BaseEstimatorFromFootIMU class.

Public variables

Eigen::VectorXd jointPositions: vector of the robot joint positions
Eigen::VectorXd jointVelocities: vector of the robot joint velocities
manif::SE3d desiredFootPose: desired orientation and position of the foot as per footstep planner output
manif::SO3d measuredRotation: actual orientation of the foot measured by on-board IMU

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