This class describes the dynamics of a robot's flexibility this dynamics with elastic forces to bring the contacts at their position in the environment. More...

#include <imu-elastic-local-frame-dynamical-system.hpp>

Inheritance diagram for stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem:

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Collaboration diagram for stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem:

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Classes
struct	input
struct	state
struct	contactModel
struct	Optimization

Public Types
typedef Eigen::LLT< Matrix3 >	LLTMatrix3

Public Member Functions
	IMUElasticLocalFrameDynamicalSystem (double dt)
	constructor
virtual	~IMUElasticLocalFrameDynamicalSystem ()
	virtual destructor
void	test ()
void	computeContactWrench (const Matrix3 &orientation, const Vector3 &position, const IndexedVectorArray &contactPosV, const IndexedVectorArray &contactOriV, const Vector &fc, const Vector &tc, const Vector3 &fm, const Vector3 &tm, const Vector3 &addForce, const Vector3 &addMoment)
stateObservation::Vector	computeAccelerations (const Vector &x, const Vector &u)
virtual void	computeAccelerations (const Vector3 &positionCom, const Vector3 &velocityCom, const Vector3 &accelerationCom, const Vector3 &AngMomentum, const Vector3 &dotAngMomentum, const Matrix3 &Inertia, const Matrix3 &dotInertia, const IndexedVectorArray &contactPos, const IndexedVectorArray &contactOri, const Vector3 &position, const Vector3 &linVelocity, Vector3 &linearAcceleration, const Vector3 &oriVector, const Matrix3 &orientation, const Vector3 &angularVel, Vector3 &angularAcceleration, const Vector &fc, const Vector &tc, const Vector3 &fm, const Vector3 &tm, const Vector3 &addForces, const Vector3 &addMoments)
virtual stateObservation::Vector	stateDynamics (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	Description of the state dynamics.
stateObservation::Matrix	stateDynamicsJacobian ()
	compute the jacobien of the state dynamics at the last computed value
stateObservation::Matrix	stateDynamicsJacobian (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	compute the jacobien of the state dynamics at a given state
void	setFDstep (const stateObservation::Vector &dx)
	sets the finite differences derivation step vector
virtual stateObservation::Vector	measureDynamics (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	Description of the sensor's dynamics.
stateObservation::Matrix	measureDynamicsJacobian ()
	compute the Jacobien of the measurements dynamics at the last computed value
stateObservation::Matrix	measureDynamicsJacobian (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	compute the Jacobien of the measurements dynamics at a given state value
virtual void	setProcessNoise (stateObservation::NoiseBase *)
	Sets a noise which disturbs the state dynamics.
virtual void	resetProcessNoise ()
	Removes the process noise.
virtual stateObservation::NoiseBase *	getProcessNoise () const
	Gets the process noise.
virtual void	setMeasurementNoise (stateObservation::NoiseBase *)
	Sets a noise which disturbs the measurements.
virtual void	resetMeasurementNoise ()
	Removes the measurement noise.
virtual stateObservation::NoiseBase *	getMeasurementNoise () const
	Gets a pointer on the measurement noise.
virtual void	setSamplingPeriod (double dt)
	Set the period of the time discretization.
virtual Index	getStateSize () const
	Gets the state size.
virtual Index	getInputSize () const
	Gets the input size.
virtual void	setInputSize (Index i)
	Sets the input size.
virtual Index	getMeasurementSize () const
	Gets the contacts position.
virtual void	setContactsNumber (unsigned)
	Sets the number of contacts.
virtual void	setPe (stateObservation::Vector3 Pe)
unsigned	getContactsNumber (void) const
	Gets the nimber of contacts.
virtual void	setContactModel (unsigned nb)
virtual void	setPrinted (bool b)
virtual void	computeElastContactForcesAndMoments (const IndexedVectorArray &contactPosArray, const IndexedVectorArray &contactOriArray, const IndexedVectorArray &contactVelArray, const IndexedVectorArray &contactAngVelArray, const Vector3 &position, const Vector3 &linVelocity, const Vector3 &oriVector, const Matrix3 &orientation, const Vector3 &angVel, Vector &fc, Vector &tc)
virtual void	computeElastPendulumForcesAndMoments (const IndexedVectorArray &PrArray, const Vector3 &position, const Vector3 &linVelocity, const Vector3 &oriVector, const Matrix3 &orientation, const Vector3 &angVel, Vector &forces, Vector &moments)
void	computeForcesAndMoments (const IndexedVectorArray &position1, const IndexedVectorArray &position2, const IndexedVectorArray &velocity1, const IndexedVectorArray &velocity2, const Vector3 &position, const Vector3 &linVelocity, const Vector3 &oriVector, const Matrix3 &orientation, const Vector3 &angVel, Vector &fc, Vector &tc)
virtual void	computeForcesAndMoments (const Vector &x, const Vector &u)
virtual Vector	getForcesAndMoments ()
virtual Vector	getForcesAndMoments (const Vector &x, const Vector &u)
virtual Vector	getMomentaDotFromForces (const Vector &x, const Vector &u)
virtual Vector	getMomentaDotFromKinematics (const Vector &x, const Vector &u)
virtual void	iterateDynamicsEuler (const Vector3 &positionCom, const Vector3 &velocityCom, const Vector3 &accelerationCom, const Vector3 &AngMomentum, const Vector3 &dotAngMomentum, const Matrix3 &Inertia, const Matrix3 &dotInertia, const IndexedVectorArray &contactPos, const IndexedVectorArray &contactOri, Vector3 &position, Vector3 &linVelocity, Vector &fc1, Vector3 &oriVector, Vector3 &angularVel, Vector &fc2, const Vector3 &fm, const Vector3 &tm, const Vector3 &addForces, const Vector3 &addMoments, double dt)
virtual void	iterateDynamicsRK4 (const Vector3 &positionCom, const Vector3 &velocityCom, const Vector3 &accelerationCom, const Vector3 &AngMomentum, const Vector3 &dotAngMomentum, const Matrix3 &Inertia, const Matrix3 &dotInertia, const IndexedVectorArray &contactPos, const IndexedVectorArray &contactOri, Vector3 &position, Vector3 &linVelocity, Vector &fc1, Vector3 &oriVector, Vector3 &angularVel, Vector &fc2, const Vector3 &fm, const Vector3 &tm, const Vector3 &addForces, const Vector3 &addMoments, double dt)
virtual void	setWithForceMeasurements (bool b)
virtual bool	getWithForceMeasurements () const
virtual void	setWithComBias (bool b)
virtual bool	getWithComBias () const
virtual void	setWithAbsolutePosition (bool b)
virtual bool	getWithAbsolutePosition () const
void	setWithUnmodeledForces (bool b)
virtual void	setKfe (const Matrix3 &m)
virtual void	setKfv (const Matrix3 &m)
virtual void	setKte (const Matrix3 &m)
virtual void	setKtv (const Matrix3 &m)
virtual void	setKfeRopes (const Matrix3 &m)
virtual void	setKfvRopes (const Matrix3 &m)
virtual void	setKteRopes (const Matrix3 &m)
virtual void	setKtvRopes (const Matrix3 &m)
virtual Matrix	getKfe () const
virtual Matrix	getKfv () const
virtual Matrix	getKte () const
virtual Matrix	getKtv () const
virtual void	setRobotMass (double d)
virtual double	getRobotMass () const
Public Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
virtual void	reset ()
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	updateMeasurementSize_ ()
Matrix3 &	computeRotation_ (const Vector3 &x, int i)
Protected Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
void	assertStateVector_ (const Vector &v)
void	assertInputVector_ (const Vector &v)

Protected Attributes
bool	printed_
stateObservation::AccelerometerGyrometer	sensor_
stateObservation::NoiseBase *	processNoise_
double	dt_
double	robotMass_
double	robotMassInv_
Index	inputSize_
unsigned	nbContacts_
unsigned	contactModel_
Vector	fc_
Vector	tc_
Vector	dx_
Vector	xk1_
Vector	xk_
Vector	uk_
Vector	xk_fory_
Vector	yk_
Vector	uk_fory_
Index	measurementSize_
std::vector< Vector3, Eigen::aligned_allocator< Vector3 > >	contactPositions_
Matrix3	Kfe_
Matrix3	Kte_
Matrix3	Kfv_
Matrix3	Ktv_
Matrix3	KfeRopes_
Matrix3	KteRopes_
Matrix3	KfvRopes_
Matrix3	KtvRopes_
TimeIndex	kcurrent_
bool	withForceMeasurements_
bool	withComBias_
bool	withAbsolutePos_
bool	withUnmodeledForces_
stateObservation::Vector3	pe
double	marginalStabilityFactor_
unsigned	index_
struct stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization	op_

Static Protected Attributes
static constexpr Index	stateSize_ = state::size
static constexpr Index	measurementSizeBase_ = 6

Detailed Description

This class describes the dynamics of a robot's flexibility this dynamics with elastic forces to bring the contacts at their position in the environment.

Definition at line 34 of file imu-elastic-local-frame-dynamical-system.hpp.

Member Typedef Documentation

◆ LLTMatrix3

typedef Eigen::LLT<Matrix3> stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::LLTMatrix3

Definition at line 80 of file imu-elastic-local-frame-dynamical-system.hpp.

Member Function Documentation

◆ stateDynamics()

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

virtual

Description of the state dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ measureDynamics()

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

virtual

Description of the sensor's dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getStateSize()

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

virtual

Gets the state size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getInputSize()

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

virtual

Gets the input size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getMeasurementSize()

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

virtual

Gets the contacts position.

Gets the contact number virtual Gets the measurement size

Implements stateObservation::DynamicalSystemFunctorBase.

◆ setPe()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setPe ( stateObservation::Vector3 Pe )

inlinevirtual

Definition at line 198 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ getContactsNumber()

unsigned stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getContactsNumber ( void ) const

inline

Gets the nimber of contacts.

Definition at line 204 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ setPrinted()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setPrinted ( bool b )

inlinevirtual

Definition at line 211 of file imu-elastic-local-frame-dynamical-system.hpp.

Member Data Documentation

◆ printed_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::printed_

protected

Definition at line 328 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ sensor_

stateObservation::AccelerometerGyrometer stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::sensor_

protected

Definition at line 330 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ processNoise_

stateObservation::NoiseBase* stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::processNoise_

protected

Definition at line 332 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ dt_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::dt_

protected

Definition at line 336 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ robotMass_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::robotMass_

protected

Definition at line 338 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ robotMassInv_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::robotMassInv_

protected

Definition at line 339 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ stateSize_

Index stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::stateSize_ = state::size

staticconstexprprotected

Definition at line 343 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ inputSize_

Index stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::inputSize_

protected

Definition at line 344 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ measurementSizeBase_

Index stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::measurementSizeBase_ = 6

staticconstexprprotected

Definition at line 345 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ nbContacts_

unsigned stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::nbContacts_

protected

Definition at line 346 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ contactModel_

unsigned stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::contactModel_

protected

Definition at line 347 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ fc_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::fc_

protected

Definition at line 349 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ tc_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::tc_

protected

Definition at line 350 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ dx_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::dx_

protected

Definition at line 352 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ xk1_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::xk1_

protected

Definition at line 354 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ xk_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::xk_

protected

Definition at line 355 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ uk_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::uk_

protected

Definition at line 356 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ xk_fory_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::xk_fory_

protected

Definition at line 358 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ yk_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::yk_

protected

Definition at line 359 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ uk_fory_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::uk_fory_

protected

Definition at line 360 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ measurementSize_

Index stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::measurementSize_

protected

Definition at line 362 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ contactPositions_

std::vector<Vector3, Eigen::aligned_allocator<Vector3> > stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::contactPositions_

protected

Definition at line 364 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ Kfe_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Kfe_

protected

Definition at line 366 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ Kte_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Kte_

protected

Definition at line 366 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ Kfv_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Kfv_

protected

Definition at line 366 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ Ktv_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Ktv_

protected

Definition at line 366 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ KfeRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KfeRopes_

protected

Definition at line 367 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ KteRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KteRopes_

protected

Definition at line 367 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ KfvRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KfvRopes_

protected

Definition at line 367 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ KtvRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KtvRopes_

protected

Definition at line 367 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ kcurrent_

TimeIndex stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::kcurrent_

protected

Definition at line 369 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ withForceMeasurements_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withForceMeasurements_

protected

Definition at line 371 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ withComBias_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withComBias_

protected

Definition at line 372 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ withAbsolutePos_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withAbsolutePos_

protected

Definition at line 373 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ withUnmodeledForces_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withUnmodeledForces_

protected

Definition at line 374 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ pe

stateObservation::Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::pe

protected

Definition at line 376 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ marginalStabilityFactor_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::marginalStabilityFactor_

protected

Definition at line 378 of file imu-elastic-local-frame-dynamical-system.hpp.

◆ index_

unsigned stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::index_

protected

Definition at line 382 of file imu-elastic-local-frame-dynamical-system.hpp.

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

/build/source/include/state-observation/flexibility-estimation/imu-elastic-local-frame-dynamical-system.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ LLTMatrix3

Member Function Documentation

◆ stateDynamics()

◆ measureDynamics()

◆ getStateSize()

◆ getInputSize()

◆ getMeasurementSize()

◆ setPe()

◆ getContactsNumber()

◆ setPrinted()

Member Data Documentation

◆ printed_

◆ sensor_

◆ processNoise_

◆ dt_

◆ robotMass_

◆ robotMassInv_

◆ stateSize_

◆ inputSize_

◆ measurementSizeBase_

◆ nbContacts_

◆ contactModel_

◆ fc_

◆ tc_

◆ dx_

◆ xk1_

◆ xk_

◆ uk_

◆ xk_fory_

◆ yk_

◆ uk_fory_

◆ measurementSize_

◆ contactPositions_

◆ Kfe_

◆ Kte_

◆ Kfv_

◆ Ktv_

◆ KfeRopes_

◆ KteRopes_

◆ KfvRopes_

◆ KtvRopes_

◆ kcurrent_

◆ withForceMeasurements_

◆ withComBias_

◆ withAbsolutePos_

◆ withUnmodeledForces_

◆ pe

◆ marginalStabilityFactor_

◆ index_