BipedalLocomotion::Estimators::FloatingBaseEstimators::Measurements struct

#include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimatorIO.h>

Public variables

Eigen::Vector3d acc

Eigen::Vector3d gyro

accelerometer and gyroscope measurements expressed in IMU frame

Eigen::VectorXd encoders

Eigen::VectorXd encodersSpeed

Joint position and joint velocity measurements.

bool lfInContact

left foot contact state

bool rfInContact

right foot contact state

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

stamped relative poses,

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

stamped contact status,

Variable documentation