A_ | stateObservation::LipmDcmEstimator | protected |
B_ | stateObservation::LipmDcmEstimator | protected |
biasDriftStd_ | stateObservation::LipmDcmEstimator | protected |
biasLimit_ | stateObservation::LipmDcmEstimator | protected |
C_ | stateObservation::LipmDcmEstimator | protected |
dblToDiag_(const double &d) | stateObservation::LipmDcmEstimator | inlineprotectedstatic |
dblToSqDiag_(const double &d) | stateObservation::LipmDcmEstimator | inlineprotectedstatic |
defaultBiasDriftSecond | stateObservation::LipmDcmEstimator | static |
defaultBiasLimit | stateObservation::LipmDcmEstimator | static |
defaultBiasUncertainty | stateObservation::LipmDcmEstimator | static |
defaultDcmErrorStd | stateObservation::LipmDcmEstimator | static |
defaultDCMUncertainty | stateObservation::LipmDcmEstimator | static |
defaultZmpErrorStd | stateObservation::LipmDcmEstimator | static |
dt_ | stateObservation::LipmDcmEstimator | protected |
filter_ | stateObservation::LipmDcmEstimator | protected |
gamma_ | stateObservation::LipmDcmEstimator | protected |
getBias() const | stateObservation::LipmDcmEstimator | |
getFilter() | stateObservation::LipmDcmEstimator | inline |
getFilter() const | stateObservation::LipmDcmEstimator | inline |
getLipmNaturalFrequency() const | stateObservation::LipmDcmEstimator | inline |
getLocalBias() const | stateObservation::LipmDcmEstimator | inline |
getUnbiasedCoMOffset() const | stateObservation::LipmDcmEstimator | inline |
getUnbiasedDCM() const | stateObservation::LipmDcmEstimator | |
getZMPCoef() const | stateObservation::LipmDcmEstimator | inline |
kappa_ | stateObservation::LipmDcmEstimator | protected |
LipmDcmEstimator(double dt=defaultDt_, double omega_0=defaultOmega_, double biasDriftPerSecondStd=defaultBiasDriftSecond, double dcmMeasureErrorStd=defaultDcmErrorStd, double zmpMeasureErrorStd=defaultZmpErrorStd, const Vector2 &biasLimit=Vector2::Constant(defaultBiasLimit), const Vector2 &initZMP=Vector2::Zero(), const Vector2 &initDcm=Vector2::Zero(), const Vector2 &initBias=Vector2::Zero(), const Vector2 &initDcmUncertainty=Vector2::Constant(defaultDCMUncertainty), const Vector2 &initBiasUncertainty=Vector2::Constant(defaultBiasUncertainty)) | stateObservation::LipmDcmEstimator | |
Matrix24 typedef | stateObservation::LipmDcmEstimator | protected |
Matrix42 typedef | stateObservation::LipmDcmEstimator | protected |
needUpdateMatrices_ | stateObservation::LipmDcmEstimator | protected |
omega0_ | stateObservation::LipmDcmEstimator | protected |
previousOrientation_ | stateObservation::LipmDcmEstimator | protected |
previousZmp_ | stateObservation::LipmDcmEstimator | protected |
Q_ | stateObservation::LipmDcmEstimator | protected |
R_ | stateObservation::LipmDcmEstimator | protected |
resetWithMeasurements(const Vector2 &measuredDcm, const Vector2 &measuredZMP, const Matrix2 &yaw=Matrix2::Identity(), bool measurementIsWithBias=true, const Vector2 &initBias=Vector2::Constant(0), const Vector2 &initBiasuncertainty=Vector2::Constant(defaultBiasUncertainty)) | stateObservation::LipmDcmEstimator | |
resetWithMeasurements(const Vector2 &measuredDcm, const Vector2 &measuredZMP, double yaw, bool measurementIsWithBias=true, const Vector2 &initBias=Vector2::Constant(0), const Vector2 &initBiasuncertainty=Vector2::Constant(defaultBiasUncertainty)) | stateObservation::LipmDcmEstimator | inline |
resetWithMeasurements(const Vector2 &measuredDcm, const Vector2 &measuredZMP, const Matrix3 &rotation, bool measurementIsWithBias=true, const Vector2 &initBias=Vector2::Constant(0), const Vector2 &initBiasuncertainty=Vector2::Constant(defaultBiasUncertainty)) | stateObservation::LipmDcmEstimator | inline |
setBias(const Vector2 &bias) | stateObservation::LipmDcmEstimator | |
setBias(const Vector2 &bias, const Vector2 &uncertainty) | stateObservation::LipmDcmEstimator | |
setBiasDriftPerSecond(double driftPerSecond) | stateObservation::LipmDcmEstimator | |
setBiasLimit(const Vector2 &biasLimit) | stateObservation::LipmDcmEstimator | |
setDcmMeasureErrorStd(double) | stateObservation::LipmDcmEstimator | |
setInputs(const Vector2 &dcm, const Vector2 &zmp, const Matrix3 &orientation, const Vector2 &CoMOffset_gamma=Vector2::Zero(), const double ZMPCoef_kappa=1) | stateObservation::LipmDcmEstimator | inline |
setInputs(const Vector2 &dcm, const Vector2 &zmp, double yaw, const Vector2 &CoMOffset_gamma=Vector2::Zero(), const double ZMPCoef_kappa=1) | stateObservation::LipmDcmEstimator | inline |
setInputs(const Vector2 &dcm, const Vector2 &zmp, const Matrix2 &R=Matrix2::Identity(), const Vector2 &CoMOffset_gamma=Vector2::Zero(), const double ZMPCoef_kappa=1) | stateObservation::LipmDcmEstimator | |
setLipmNaturalFrequency(double omega_0) | stateObservation::LipmDcmEstimator | |
setSamplingTime(double dt) | stateObservation::LipmDcmEstimator | |
setUnbiasedCoMOffset(const Vector2 &gamma) | stateObservation::LipmDcmEstimator | |
setUnbiasedDCM(const Vector2 &dcm) | stateObservation::LipmDcmEstimator | |
setUnbiasedDCM(const Vector2 &dcm, const Vector2 &uncertainty) | stateObservation::LipmDcmEstimator | |
setZMPCoef(double kappa) | stateObservation::LipmDcmEstimator | |
setZmpMeasureErrorStd(double) | stateObservation::LipmDcmEstimator | |
update() | stateObservation::LipmDcmEstimator | |
updateMatricesABQ_() | stateObservation::LipmDcmEstimator | protected |
Vec2ToSqDiag_(const Vector2 &v) | stateObservation::LipmDcmEstimator | inlineprotectedstatic |
zmpErrorStd_ | stateObservation::LipmDcmEstimator | protected |
~LipmDcmEstimator() | stateObservation::LipmDcmEstimator | |