* @brief A struct for contact information * * @param[in] id: Contact foot(leg)'s id * @param[in] pose: Contact foot(leg)'s pose * @param[in] cov:

* @class Correction * @brief Base class for correction method. This class just provides a skeleton * for the correction method. It should be impleme

* @class ImuAngVelEKF */

* @class ImuPropagation * @brief A class for state propagation using imu measurement data. * * A class for state propagation using imu measurement

* @class InekfEstimator * * @brief class for state estimation using InEKF. This class will be used to *estimate the state of the robot using user c

* @class LeggedKinematicsCorrection * * @brief A class for state correction using foot kinematics and contact events. * * A class for state correc

* @class LeggedKinematicsMeasurement * * @brief Derived measurement class containing information * about body-to-foot kinematics */

* @class Measurement * * @brief class for robot-state instantaneous measurement. * This class is the base class for all measurements. */

* @class MiniCheetahKinematics * @brief Mini Cheetah specific kinematics solver and measurement container * * Derived measurement class containing

* @class Propagation * @brief Base class for propagation method */

* @class ROSPublisher * * @brief ROS publisher class, which publishes robot state to ROS topics * including pose and path. * */

* @class ROSSubscriber * @brief ROS subscriber class, which subscribes to the ROS topics and stores * the measurements in the queue. * */

* @class RobotState * * @brief state class containing its pose and augmented states, * biases, and covariances. */

* @class SEK3 * @brief SEk(3) group class * * SEk(3) is a group of SE(3) with k additional states */

* @class VelocityCorrection * @brief A class for state correction using velocity measurement data. * * A class for state correction using velocity