BipedalLocomotion::Estimators::RobotDynamicsEstimator::UKFInput struct
#include <BipedalLocomotion/RobotDynamicsEstimator/Dynamics.h>

The UKFInput struct represents the input of the ukf needed to update the dynamics.

Public variables

Eigen::VectorXd robotJointPositions: Vector of joint positions.
Eigen::VectorXd robotJointAccelerations: Vector of joint accelerations.
manif::SE3d robotBasePose: Robot base position and orientation.
manif::SE3d::Tangent robotBaseVelocity: Robot base velocity.
manif::SE3d::Tangent robotBaseAcceleration: Robot base acceleration.

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