stateObservation::DynamicalSystemFunctorBase Class Reference

This is the base class of any functor that describes the dynamics of the state and the measurement. This class is to be derived in order to be given to the Extended Kalman Filter. More...

#include <dynamical-system-functor-base.hpp>

Inheritance diagram for stateObservation::DynamicalSystemFunctorBase:

Public Member Functions
virtual Vector	stateDynamics (const Vector &x, const Vector &u, TimeIndex k)=0
	The function to overload to describe the dynamics of the state.
virtual Vector	measureDynamics (const Vector &x, const Vector &u, TimeIndex k)=0
	The function to overload to describe the dynamics of the sensor (measurements).
virtual void	reset ()
virtual Index	getStateSize () const =0
	gets the state size
virtual Index	getInputSize () const =0
	gets the input size
virtual Index	getMeasurementSize () const =0
	gets the measurements size
virtual bool	checkStateVector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be a state vector.
virtual bool	checkInputvector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be an input vector.

Protected Member Functions
void	assertStateVector_ (const Vector &v)
void	assertInputVector_ (const Vector &v)

Detailed Description

This is the base class of any functor that describes the dynamics of the state and the measurement. This class is to be derived in order to be given to the Extended Kalman Filter.

Definition at line 32 of file dynamical-system-functor-base.hpp.

Member Function Documentation

stateDynamics()

virtual Vector stateObservation::DynamicalSystemFunctorBase::stateDynamics ( const Vector & x, const Vector & u, TimeIndex k )

pure virtual

The function to overload to describe the dynamics of the state.

Implemented in stateObservation::BidimElasticInvPendulum, stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem, stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem, stateObservation::flexibilityEstimation::StableIMUFixedContactDynamicalSystem, stateObservation::IMUDynamicalSystem, stateObservation::IMUMagnetometerDynamicalSystem, stateObservation::IMUMltpctiveDynamicalSystem, and stateObservation::KineticsObserver.

measureDynamics()

virtual Vector stateObservation::DynamicalSystemFunctorBase::measureDynamics ( const Vector & x, const Vector & u, TimeIndex k )

pure virtual

The function to overload to describe the dynamics of the sensor (measurements).

Implemented in stateObservation::BidimElasticInvPendulum, stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem, stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem, stateObservation::flexibilityEstimation::StableIMUFixedContactDynamicalSystem, stateObservation::IMUDynamicalSystem, stateObservation::IMUMagnetometerDynamicalSystem, stateObservation::IMUMltpctiveDynamicalSystem, and stateObservation::KineticsObserver.

reset()

virtual void stateObservation::DynamicalSystemFunctorBase::reset ( )

inlinevirtual

The method to overload if the functor needs to be reset when the Exteded Kalman filter is reset itself

Definition at line 46 of file dynamical-system-functor-base.hpp.

getStateSize()

virtual Index stateObservation::DynamicalSystemFunctorBase::getStateSize ( ) const

pure virtual

gets the state size

Implemented in stateObservation::BidimElasticInvPendulum, stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem, stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem, stateObservation::flexibilityEstimation::StableIMUFixedContactDynamicalSystem, stateObservation::IMUDynamicalSystem, stateObservation::IMUMagnetometerDynamicalSystem, stateObservation::IMUMltpctiveDynamicalSystem, and stateObservation::KineticsObserver.

getInputSize()

virtual Index stateObservation::DynamicalSystemFunctorBase::getInputSize ( ) const

pure virtual

gets the input size

Implemented in stateObservation::BidimElasticInvPendulum, stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem, stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem, stateObservation::flexibilityEstimation::StableIMUFixedContactDynamicalSystem, stateObservation::IMUDynamicalSystem, stateObservation::IMUMagnetometerDynamicalSystem, stateObservation::IMUMltpctiveDynamicalSystem, and stateObservation::KineticsObserver.

getMeasurementSize()

virtual Index stateObservation::DynamicalSystemFunctorBase::getMeasurementSize ( ) const

pure virtual

gets the measurements size

Implemented in stateObservation::BidimElasticInvPendulum, stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem, stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem, stateObservation::flexibilityEstimation::StableIMUFixedContactDynamicalSystem, stateObservation::IMUDynamicalSystem, stateObservation::IMUMagnetometerDynamicalSystem, stateObservation::IMUMltpctiveDynamicalSystem, and stateObservation::KineticsObserver.

assertStateVector_()

void stateObservation::DynamicalSystemFunctorBase::assertStateVector_ ( const Vector & v )

inlineprotected

Definition at line 61 of file dynamical-system-functor-base.hpp.

assertInputVector_()

void stateObservation::DynamicalSystemFunctorBase::assertInputVector_ ( const Vector & v )

inlineprotected

Definition at line 66 of file dynamical-system-functor-base.hpp.

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The documentation for this class was generated from the following file:

• /build/source/include/state-observation/dynamical-system/dynamical-system-functor-base.hpp