Add the possibility to use MANN in autoregressive fashion #659
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Co-authored-by: Paolo Viceconte <paolomariaviceconte@gmail.com>
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This PR implements the possibility of calling MANN in autoregressive fashion.
The following diagram shows how the blocks are connected. The output of MANN is given to two blocks, one computes the kinematically feasible base position, while the other blends it with te input provided by the user
Drawio diagram: adherent_autregressive.zip