RobotDynamicsEstimatorOutput struct
RobotDynamicsEstimatorOutput of the RobotDynamicsEstimator which represents the estimation of the Unscented Kalman Filter.
Public variables
- Eigen::VectorXd ds
- Joints velocities in rad per sec.
- Eigen::VectorXd tau_m
- Motor toruqes in Nm.
- Eigen::VectorXd tau_F
- Motor friction torques in Nm.
- std::map<std::string, Eigen::VectorXd> ftWrenches
- Wrenches at the force/torque sensors.
- std::map<std::string, Eigen::VectorXd> ftWrenchesBiases
- Biases of the force/torque sensors.
- std::map<std::string, Eigen::VectorXd> accelerometerBiases
- Biases of the accelerometer sensors.
- std::map<std::string, Eigen::VectorXd> gyroscopeBiases
- Biases of the gyroscope sensors.
- std::map<std::string, Eigen::VectorXd> contactWrenches
- External contact wrenches.
- std::map<std::string, Eigen::VectorXd> linearAccelerations
- Linear acceleration of the accelerometer frames.
- std::map<std::string, Eigen::VectorXd> angularVelocities
- Angular velocity of the gyroscope frames.