BipedalLocomotion::Estimators::FloatingBaseEstimators::Output struct
#include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimatorIO.h>

Struct holding the elements of the estimator output.

Public variables

InternalState state: Current state estimate of the estimator.
StateStdDev stateStdDev: Current state covariance matrix.
manif::SE3d basePose: Estimated base link pose.
Eigen::Matrix<double, 6, 1> baseTwist: Estimate base link velocity in mixed-velocity representation.

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