BipedalLocomotion::Estimators::FloatingBaseEstimators::InternalState struct

#include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimatorIO.h>

Public variables

Eigen::Quaterniond imuOrientation

Orientation of the base link IMU in the inertial frame (as a quaternion w,x,y,z)

Eigen::Vector3d imuPosition

Position of the base link IMU in the inertial frame.

Eigen::Vector3d imuLinearVelocity

linear part of the mixed-velocity representation of the IMU with respect to the inertial frame

Eigen::Quaterniond lContactFrameOrientation

Orientation of the left foot contact frame in the inertial frame (as a quaternion w,x,y,z)

Eigen::Vector3d lContactFramePosition

Position of the left foot contact frame in the inertial frame.

Eigen::Quaterniond rContactFrameOrientation

Orientation of the right foot contact frame in the inertial frame (as a quaternion w,x,y,z)

Eigen::Vector3d rContactFramePosition

Position of the right foot contact frame in the inertial frame.

Eigen::Vector3d accelerometerBias

Bias of the accelerometer expressed in the IMU frame.

Eigen::Vector3d gyroscopeBias

Bias of the gyroscope expressed in the IMU frame.

Eigen::Vector3d imuAngularVelocity

angular velocity of the IMU with respect to the inertial frame expressed in inertial frame, typically unused for strap-down IMU based EKF implementations

std::map<int, BipedalLocomotion::Contacts::EstimatedContact> supportFrameData

estimated contacts

std::map<int, BipedalLocomotion::Contacts::EstimatedLandmark> landmarkData

estimated landmarks