This class implements the flexibility estimation of a robot with the hypothesis that the contact positions do not move. This constraint is expressed using fictious measurements but the interface is transparent to this assumption, the state is expressed using classical representation of position, velocity, acceleration, orientation (using (theta x mu) representation) angular velocity (omega) and acceleration (omega dot) More...

#include <state-observation/flexibility-estimation/fixed-contact-ekf-flex-estimator-imu.hpp>

Inheritance diagram for stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU:

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Collaboration diagram for stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU:

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Public Member Functions
	FixedContactEKFFlexEstimatorIMU (double dt=0.005)
	The constructor, it requires the value of the time discretization period. More...

virtual	~FixedContactEKFFlexEstimatorIMU ()
	Virtual destructor. More...

void	setContactsNumber (unsigned i)
	Sets the number of contacts can be changed online. More...

void	setContactPosition (unsigned i, Vector3 position)
	Sets the position of the i-th contact. More...

virtual void	setMeasurement (const Vector &y)
	Sets the value of the next sensor measurement y_{k+1}. More...

virtual void	setVirtualMeasurementsCovariance (double c_)
	Sets the covariance of the fictious measurements (not mandatory) More...

virtual double	getVirtualMeasurementsCovariance () const
	Sets the covariance of the fictious measurements (not mandatory) More...

virtual void	setProcessNoiseCovariance (const Matrix &Q)
	Sets the process covariance matrice. More...

virtual void	setMeasurementNoiseCovariance (const Matrix &R)
	Sets the measurements covariance matrice. More...

virtual Matrix	getProcessNoiseCovariance () const
	gets the covariance matrices for the process noises More...

virtual Matrix	getMeasurementNoiseCovariance () const
	gets the covariance matrices for the sensor noises More...

virtual void	setFlexibilityGuess (const Matrix &x)

virtual Matrix4	getFlexibility ()
	Gets an estimation of the flexibility in the form of a homogeneous matrix. More...

virtual const Vector &	getFlexibilityVector ()
	Gets an estimation of the flexibility in the form of a state vector \hat{x_{k+1}}. More...

virtual Index	getMeasurementSize () const

virtual Index	getStateSize () const

virtual Index	getInputSize () const

virtual void	setSamplingPeriod (double)
	sets the sampling period More...

virtual void	resetCovarianceMatrices ()
	Resets the covariance matrices to their original values. More...

Public Member Functions inherited from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase
	EKFFlexibilityEstimatorBase (Index stateSize, Index measurementSize, Index inputSize, const Vector &dx=Vector::Zero(0))

virtual	~EKFFlexibilityEstimatorBase ()
	virtual destructor More...

virtual void	setFlexibilityCovariance (const Matrix &P)
	Sets the covariance matrix of the flexibility Guess. More...

virtual Matrix	getFlexibilityCovariance () const
	Gets the covariance matrix of the flexibility. More...

virtual Vector	getMeasurement ()

virtual void	setInput (const Vector &u)

virtual void	setMeasurementInput (const Vector &u)

virtual Vector	getInput ()

virtual Vector	getMeasurementInput ()

virtual const stateObservation::ExtendedKalmanFilter &	getEKF () const
	Gets a const reference on the extended Kalman filter. More...

virtual stateObservation::ExtendedKalmanFilter &	getEKF ()
	Gets a reference on the extended Kalman filter. More...

virtual Vector	getSimulatedMeasurement ()
	Gets a simulation of the. More...

virtual Vector	getInnovation ()
	Get the last vector of inovation of the Kalman filter. More...

virtual Vector	getPredictedMeasurement ()
	Get the simulated measurement of the predicted state. More...

virtual Vector	getPrediction ()
	Get the predicted state. More...

virtual Vector	getLastPredictedMeasurement ()
	Get the last simulated measurement. More...

virtual Vector	getLastPrediction ()
	Get the last predicted state. More...

Public Member Functions inherited from stateObservation::flexibilityEstimation::FlexibilityEstimatorBase
virtual	~FlexibilityEstimatorBase ()
	virtual destructor More...

	FlexibilityEstimatorBase ()
	The constructor. More...

Protected Types
typedef kine::indexes< kine::rotationVector >	indexes

Protected Member Functions
virtual void	updateCovarianceMatrix_ ()

Protected Member Functions inherited from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase
virtual void	setJacobians (const Matrix &A, const Matrix &C)

virtual void	useFiniteDifferencesJacobians (Vector dx)

Protected Attributes
IMUFixedContactDynamicalSystem	functor_

double	virtualMeasurementCovariance_

Matrix	R_

Matrix	Q_

double	dt_

Protected Attributes inherited from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase
stateObservation::ExtendedKalmanFilter	ekf_

bool	finiteDifferencesJacobians_

Vector	dx_

Vector	lastX_

TimeIndex	k_

Static Protected Attributes
static const Index	stateSizeConst_ = 18

static const Index	measurementSizeConst_ = 6

static const Index	inputSizeConst_ = 15

Detailed Description

This class implements the flexibility estimation of a robot with the hypothesis that the contact positions do not move. This constraint is expressed using fictious measurements but the interface is transparent to this assumption, the state is expressed using classical representation of position, velocity, acceleration, orientation (using (theta x mu) representation) angular velocity (omega) and acceleration (omega dot)

Member Typedef Documentation

◆ indexes

typedef kine::indexes<kine::rotationVector> stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::indexes

protected

Constructor & Destructor Documentation

◆ FixedContactEKFFlexEstimatorIMU()

stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::FixedContactEKFFlexEstimatorIMU ( double dt = 0.005 )

explicit

The constructor, it requires the value of the time discretization period.

◆ ~FixedContactEKFFlexEstimatorIMU()

virtual stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::~FixedContactEKFFlexEstimatorIMU ( )

virtual

Virtual destructor.

Member Function Documentation

◆ getFlexibility()

virtual Matrix4 stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getFlexibility ( )

virtual

Gets an estimation of the flexibility in the form of a homogeneous matrix.

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getFlexibilityVector()

virtual const Vector& stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getFlexibilityVector ( )

virtual

Gets an estimation of the flexibility in the form of a state vector \hat{x_{k+1}}.

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getInputSize()

virtual Index stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getInputSize ( ) const

virtual

Gets the input size this method is pure virtual and reauires to be overloaded in implementation

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getMeasurementNoiseCovariance()

virtual Matrix stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getMeasurementNoiseCovariance ( ) const

virtual

gets the covariance matrices for the sensor noises

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getMeasurementSize()

virtual Index stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getMeasurementSize ( ) const

virtual

Gets the measurements size this method is pure virtual and reauires to be overloaded in implementation

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getProcessNoiseCovariance()

virtual Matrix stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getProcessNoiseCovariance ( ) const

virtual

gets the covariance matrices for the process noises

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getStateSize()

virtual Index stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getStateSize ( ) const

virtual

Gets the state size this method is pure virtual and reauires to be overloaded in implementation

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getVirtualMeasurementsCovariance()

virtual double stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::getVirtualMeasurementsCovariance ( ) const

virtual

Sets the covariance of the fictious measurements (not mandatory)

◆ resetCovarianceMatrices()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::resetCovarianceMatrices ( )

virtual

Resets the covariance matrices to their original values.

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ setContactPosition()

void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setContactPosition	(	unsigned	i,
		Vector3	position
	)

Sets the position of the i-th contact.

◆ setContactsNumber()

void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setContactsNumber ( unsigned i )

Sets the number of contacts can be changed online.

◆ setFlexibilityGuess()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setFlexibilityGuess ( const Matrix & x )

virtual

Sets a value of the flexibility x_k provided from another source can be used for initialization of the estimator

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ setMeasurement()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setMeasurement ( const Vector & y )

virtual

Sets the value of the next sensor measurement y_{k+1}.

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ setMeasurementNoiseCovariance()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setMeasurementNoiseCovariance ( const Matrix & R )

virtual

Sets the measurements covariance matrice.

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ setProcessNoiseCovariance()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setProcessNoiseCovariance ( const Matrix & Q )

virtual

Sets the process covariance matrice.

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ setSamplingPeriod()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setSamplingPeriod ( double )

virtual

sets the sampling period

◆ setVirtualMeasurementsCovariance()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::setVirtualMeasurementsCovariance ( double c_ )

virtual

Sets the covariance of the fictious measurements (not mandatory)

◆ updateCovarianceMatrix_()

virtual void stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::updateCovarianceMatrix_ ( )

protectedvirtual

Member Data Documentation

◆ dt_

double stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::dt_

protected

◆ functor_

IMUFixedContactDynamicalSystem stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::functor_

protected

◆ inputSizeConst_

const Index stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::inputSizeConst_ = 15

staticprotected

◆ measurementSizeConst_

const Index stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::measurementSizeConst_ = 6

staticprotected

◆ Q_

Matrix stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::Q_

protected

◆ R_

Matrix stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::R_

protected

◆ stateSizeConst_

const Index stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::stateSizeConst_ = 18

staticprotected

◆ virtualMeasurementCovariance_

double stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU::virtualMeasurementCovariance_

protected

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

include/state-observation/flexibility-estimation/fixed-contact-ekf-flex-estimator-imu.hpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ indexes

Constructor & Destructor Documentation

◆ FixedContactEKFFlexEstimatorIMU()

◆ ~FixedContactEKFFlexEstimatorIMU()

Member Function Documentation

◆ getFlexibility()

◆ getFlexibilityVector()

◆ getInputSize()

◆ getMeasurementNoiseCovariance()

◆ getMeasurementSize()

◆ getProcessNoiseCovariance()

◆ getStateSize()

◆ getVirtualMeasurementsCovariance()

◆ resetCovarianceMatrices()

◆ setContactPosition()

◆ setContactsNumber()

◆ setFlexibilityGuess()

◆ setMeasurement()

◆ setMeasurementNoiseCovariance()

◆ setProcessNoiseCovariance()

◆ setSamplingPeriod()

◆ setVirtualMeasurementsCovariance()

◆ updateCovarianceMatrix_()

Member Data Documentation

◆ dt_

◆ functor_

◆ inputSizeConst_

◆ measurementSizeConst_

◆ Q_

◆ R_

◆ stateSizeConst_

◆ virtualMeasurementCovariance_