Public Member Functions | Protected Member Functions | List of all members
stateObservation::DynamicalSystemFunctorBase Class Referenceabstract

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 <state-observation/dynamical-system/dynamical-system-functor-base.hpp>

Inheritance diagram for stateObservation::DynamicalSystemFunctorBase:
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Public Member Functions

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

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.

Constructor & Destructor Documentation

◆ DynamicalSystemFunctorBase()

stateObservation::DynamicalSystemFunctorBase::DynamicalSystemFunctorBase ( )

◆ ~DynamicalSystemFunctorBase()

virtual stateObservation::DynamicalSystemFunctorBase::~DynamicalSystemFunctorBase ( )
virtual

Member Function Documentation

◆ assertInputVector_()

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

◆ assertStateVector_()

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

◆ checkInputvector()

virtual bool stateObservation::DynamicalSystemFunctorBase::checkInputvector ( const Vector &  )
virtual

Gives a boolean answer on whether or not the vector is correctly sized to be an input vector.

◆ checkStateVector()

virtual bool stateObservation::DynamicalSystemFunctorBase::checkStateVector ( const Vector &  )
virtual

Gives a boolean answer on whether or not the vector is correctly sized to be a state vector.

◆ getInputSize()

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

gets the input size

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

◆ getMeasurementSize()

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

gets the measurements size

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

◆ getStateSize()

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

gets the state size

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

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

◆ 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

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

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