[gym/common] Add support of multi-frame quantities. (#804)

* [gym/common] Add support of multi-frame quantities. * [gym/common] Add mean quaternion quantity. * [gym/common] Add foot odometry pose quantity.
duburcqa · Jun 18, 2024 · 64d9e06 · 64d9e06
1 parent 0cb13f4
commit 64d9e06
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Showing 6 changed files with 662 additions and 134 deletions.
diff --git a/python/gym_jiminy/common/gym_jiminy/common/quantities/__init__.py b/python/gym_jiminy/common/gym_jiminy/common/quantities/__init__.py
@@ -6,10 +6,14 @@
                         UnaryOpQuantity,
                         BinaryOpQuantity)
 from .generic import (FrameEulerAngles,
+                      MultiFrameEulerAngles,
                       FrameXYZQuat,
+                      MultiFrameXYZQuat,
+                      MultiFrameMeanXYZQuat,
                       AverageFrameSpatialVelocity,
                       ActuatedJointPositions)
-from .locomotion import (OdometryPose,
+from .locomotion import (BaseOdometryPose,
+                         FootOdometryPose,
                          AverageOdometryVelocity,
                          CenterOfMass,
                          CapturePoint,
@@ -24,8 +28,12 @@
     'BinaryOpQuantity',
     'ActuatedJointPositions',
     'FrameEulerAngles',
+    'MultiFrameEulerAngles',
     'FrameXYZQuat',
-    'OdometryPose',
+    'MultiFrameXYZQuat',
+    'MultiFrameMeanXYZQuat',
+    'BaseOdometryPose',
+    'FootOdometryPose',
     'AverageFrameSpatialVelocity',
     'AverageOdometryVelocity',
     'CenterOfMass',