|
| TiltEstimatorHumanoid (double alpha, double beta, double gamma) |
|
void | setSensorPositionInC (const Vector3 &p) |
| sets the position of the IMU sensor in the control frame More...
|
|
Vector3 | getSensorPositionInC () |
|
void | setSensorOrientationInC (const Matrix3 &R) |
| sets the oriantation of the IMU sensor in the control frame More...
|
|
Matrix3 | getSensorOrientationInC () |
|
Vector3 | getVirtualLocalVelocityMeasurement () |
|
void | setSensorLinearVelocityInC (const Vector3 &v) |
| sets teh linear velocity of the IMU sensor in the control frame More...
|
|
Vector3 | getSensorLinearVelocityInC () |
|
void | setSensorAngularVelocityInC (const Vector3 &w) |
| sets the angular velocity of the IMU sensor in the control frame More...
|
|
Vector3 | getSensorAngularVelocityInC () |
|
void | setControlOriginVelocityInW (const Vector3 &v) |
|
Vector3 | getControlOriginVelocityInW () |
|
void | resetImuLocVelHat () |
| informs the estimator that x1hat (the estimate of the local linear velocity of the IMU in the world) needs to be reset. More...
|
|
void | setMeasurement (const Vector3 &ya_k, const Vector3 &yg_k, TimeIndex k) |
| sets ths measurement (accelero and gyro stacked in one vector) More...
|
|
void | setMeasurement (const Vector3 &yv_k, const Vector3 &ya_k, const Vector3 &yg_k, TimeIndex k) |
| prevent c++ overloaded virtual function warning More...
|
|
| TiltEstimator (double alpha, double beta, double gamma) |
|
void | initEstimator (Vector3 x1=Vector3::Zero(), Vector3 x2_prime=Vector3::UnitZ(), Vector3 x2=Vector3::UnitZ()) |
| initializes the state vector. More...
|
|
void | setAlpha (const double alpha) |
| set the gain of x1_hat variable More...
|
|
double | getAlpha () const |
|
void | setBeta (const double beta) |
| set the gain of x2prime_hat variable More...
|
|
double | getBeta () const |
|
void | setGamma (const double gamma) |
| set the gain of x2_hat variable More...
|
|
double | getGamma () const |
|
void | setSamplingTime (const double dt) |
| set the sampling time of the measurements More...
|
|
double | getSamplingTime () const |
|
void | setMeasurement (const Vector3 &yv_k, const Vector3 &ya_k, const Vector3 &yg_k, TimeIndex k) |
| sets ths measurement (accelero and gyro stacked in one vector) More...
|
|
| ZeroDelayObserver (Index n, Index m, Index p=0) |
|
| ZeroDelayObserver () |
| Default constructor (default values for n,m,p are zero) More...
|
|
virtual | ~ZeroDelayObserver () |
| Destructor. More...
|
|
virtual void | setState (const ObserverBase::StateVector &x_k, TimeIndex k) |
| Set the value of the state vector at time index k. More...
|
|
virtual void | setCurrentState (const ObserverBase::StateVector &x_k) |
| Modify the value of the state vector at the current time. More...
|
|
virtual void | clearStates () |
| Removes the state estimation. More...
|
|
bool | stateIsSet () const |
| Returns if the state is set or not. The state being set is mandatory to start the estimator. More...
|
|
virtual void | setMeasurement (const ObserverBase::MeasureVector &y_k, TimeIndex k) |
|
virtual void | pushMeasurement (const ObserverBase::MeasureVector &y_k) |
| Sets the measurement value at the next time index. More...
|
|
virtual void | clearMeasurements () |
| Remove all the given values of the measurements. More...
|
|
virtual void | setInput (const ObserverBase::InputVector &u_k, TimeIndex k) |
|
virtual void | pushInput (const ObserverBase::InputVector &u_k) |
| Set the input value at the next time indext. More...
|
|
virtual void | clearInputs () |
|
virtual void | clearInputsAndMeasurements () |
| Remove all the given values of the inputs and measurements. More...
|
|
virtual TimeIndex | estimateState () |
| run the observer until the measurement vector is depleted. More...
|
|
virtual ObserverBase::StateVector | getEstimatedState (TimeIndex k) |
| getestimated State More...
|
|
virtual ObserverBase::StateVector | getCurrentEstimatedState () const |
| Get the Current Estimated State. More...
|
|
virtual TimeIndex | getCurrentTime () const |
| Get the value of the time index of the current state estimation. More...
|
|
Vector | getInput (TimeIndex k) const |
| Get the value of the input of the time index k. More...
|
|
virtual TimeSize | getInputsNumber () const |
| Get the number of available inputs. More...
|
|
virtual TimeIndex | getInputTime () const |
| Get the time index of the last given input. More...
|
|
Vector | getMeasurement (TimeIndex k) const |
| Get the measurement of the time index k. More...
|
|
virtual TimeIndex | getMeasurementTime () const |
| Get the time index of the last given measurement. More...
|
|
virtual TimeSize | getMeasurementsNumber () const |
| Gets the number of regitered measurements. More...
|
|
virtual void | setStateSize (Index n) |
| changes the size of the state vector: resets the stored state vector More...
|
|
virtual void | setMeasureSize (Index m) |
| changes the size of the measurement vector: reset the stored measurement vectors More...
|
|
virtual void | setInputSize (Index p) |
| changes the size of the input vector: reset the stored input vectors More...
|
|
| ObserverBase (Index n, Index m, Index p=0) |
|
| ObserverBase () |
| default constructor (default values for n,m,p are zero) More...
|
|
virtual | ~ObserverBase () |
| Destructor. More...
|
|
virtual Index | getStateSize () const |
| gets the size of the state vector More...
|
|
virtual Index | getMeasureSize () const |
| gets the size of the measurement vector More...
|
|
virtual Index | getInputSize () const |
| gets the size of the input vector More...
|
|
virtual void | reset () |
|
virtual StateVector | stateVectorConstant (double c) const |
|
virtual StateVector | stateVectorRandom () const |
| Gives a vector of state vector size having random values. More...
|
|
virtual StateVector | stateVectorZero () const |
| Gives a vector of state vector size having zero values. More...
|
|
virtual bool | checkStateVector (const StateVector &v) const |
| Tells whether or not the vector has the dimensions of a state vector. More...
|
|
virtual MeasureVector | measureVectorConstant (double c) const |
| Gives a vector of measurement vector size having duplicated "c" value. More...
|
|
virtual MeasureVector | measureVectorRandom () const |
| Gives a vector of measurement vector size having random values. More...
|
|
virtual MeasureVector | measureVectorZero () const |
| Gives a vector of measurement vector size having zero values. More...
|
|
virtual bool | checkMeasureVector (const MeasureVector &) const |
| Tells whether or not the vector has the dimensions of a measurement vector. More...
|
|
virtual InputVector | inputVectorConstant (double c) const |
| Gives a vector of input vector size having duplicated "c" value. More...
|
|
virtual InputVector | inputVectorRandom () const |
| Gives a vector of input vector size having random values. More...
|
|
virtual InputVector | inputVectorZero () const |
| Gives a vector of input vector size having zero values. More...
|
|
virtual bool | checkInputVector (const InputVector &) const |
| Tells whether or not the vector has the dimensions of a input vector. More...
|
|
Version of the Tilt Estimator for humanoid robots.