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 <state-observation/flexibility-estimation/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	contactModel

struct	input

struct	Optimization

struct	state

Public Types
typedef Eigen::LLT< Matrix3 >	LLTMatrix3

Public Member Functions
	IMUElasticLocalFrameDynamicalSystem (double dt)
	constructor More...

virtual	~IMUElasticLocalFrameDynamicalSystem ()
	virtual destructor More...

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. More...

stateObservation::Matrix	stateDynamicsJacobian ()
	compute the jacobien of the state dynamics at the last computed value More...

stateObservation::Matrix	stateDynamicsJacobian (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	compute the jacobien of the state dynamics at a given state More...

void	setFDstep (const stateObservation::Vector &dx)
	sets the finite differences derivation step vector More...

virtual stateObservation::Vector	measureDynamics (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	Description of the sensor's dynamics. More...

stateObservation::Matrix	measureDynamicsJacobian ()
	compute the Jacobien of the measurements dynamics at the last computed value More...

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 More...

virtual void	setProcessNoise (stateObservation::NoiseBase *)
	Sets a noise which disturbs the state dynamics. More...

virtual void	resetProcessNoise ()
	Removes the process noise. More...

virtual stateObservation::NoiseBase *	getProcessNoise () const
	Gets the process noise. More...

virtual void	setMeasurementNoise (stateObservation::NoiseBase *)
	Sets a noise which disturbs the measurements. More...

virtual void	resetMeasurementNoise ()
	Removes the measurement noise. More...

virtual stateObservation::NoiseBase *	getMeasurementNoise () const
	Gets a pointer on the measurement noise. More...

virtual void	setSamplingPeriod (double dt)
	Set the period of the time discretization. More...

virtual Index	getStateSize () const
	Gets the state size. More...

virtual Index	getInputSize () const
	Gets the input size. More...

virtual void	setInputSize (Index i)
	Sets the input size. More...

virtual Index	getMeasurementSize () const
	Gets the contacts position. More...

virtual void	setContactsNumber (unsigned)
	Sets the number of contacts. More...

virtual void	setPe (stateObservation::Vector3 Pe)

unsigned	getContactsNumber (void) const
	Gets the nimber of contacts. More...

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
	DynamicalSystemFunctorBase ()

virtual	~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. 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	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.

Member Typedef Documentation

◆ LLTMatrix3

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

Constructor & Destructor Documentation

◆ IMUElasticLocalFrameDynamicalSystem()

stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::IMUElasticLocalFrameDynamicalSystem ( double dt )

explicit

constructor

◆ ~IMUElasticLocalFrameDynamicalSystem()

virtual stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::~IMUElasticLocalFrameDynamicalSystem ( )

virtual

virtual destructor

Member Function Documentation

◆ computeAccelerations() [1/2]

stateObservation::Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::computeAccelerations	(	const Vector &	x,
		const Vector &	u
	)

◆ computeAccelerations() [2/2]

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::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

◆ computeContactWrench()

void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::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
	)

◆ computeElastContactForcesAndMoments()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::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

◆ computeElastPendulumForcesAndMoments()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::computeElastPendulumForcesAndMoments	(	const IndexedVectorArray &	PrArray,
		const Vector3 &	position,
		const Vector3 &	linVelocity,
		const Vector3 &	oriVector,
		const Matrix3 &	orientation,
		const Vector3 &	angVel,
		Vector &	forces,
		Vector &	moments
	)

virtual

◆ computeForcesAndMoments() [1/2]

void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::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
	)

◆ computeForcesAndMoments() [2/2]

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::computeForcesAndMoments	(	const Vector &	x,
		const Vector &	u
	)

virtual

◆ computeRotation_()

Matrix3& stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::computeRotation_	(	const Vector3 &	x,
		int	i
	)

protected

◆ getContactsNumber()

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

inline

Gets the nimber of contacts.

◆ getForcesAndMoments() [1/2]

virtual Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getForcesAndMoments ( )

virtual

◆ getForcesAndMoments() [2/2]

virtual Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getForcesAndMoments	(	const Vector &	x,
		const Vector &	u
	)

virtual

◆ getInputSize()

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

virtual

Gets the input size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getKfe()

virtual Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getKfe ( ) const

virtual

◆ getKfv()

virtual Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getKfv ( ) const

virtual

◆ getKte()

virtual Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getKte ( ) const

virtual

◆ getKtv()

virtual Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getKtv ( ) const

virtual

◆ getMeasurementNoise()

virtual stateObservation::NoiseBase* stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getMeasurementNoise ( ) const

virtual

Gets a pointer on the measurement noise.

◆ 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.

◆ getMomentaDotFromForces()

virtual Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getMomentaDotFromForces	(	const Vector &	x,
		const Vector &	u
	)

virtual

◆ getMomentaDotFromKinematics()

virtual Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getMomentaDotFromKinematics	(	const Vector &	x,
		const Vector &	u
	)

virtual

◆ getProcessNoise()

virtual stateObservation::NoiseBase* stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getProcessNoise ( ) const

virtual

Gets the process noise.

◆ getRobotMass()

virtual double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getRobotMass ( ) const

virtual

◆ getStateSize()

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

virtual

Gets the state size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getWithAbsolutePosition()

virtual bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getWithAbsolutePosition ( ) const

virtual

◆ getWithComBias()

virtual bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getWithComBias ( ) const

virtual

◆ getWithForceMeasurements()

virtual bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::getWithForceMeasurements ( ) const

virtual

◆ iterateDynamicsEuler()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::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

◆ iterateDynamicsRK4()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::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

◆ 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.

◆ measureDynamicsJacobian() [1/2]

stateObservation::Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::measureDynamicsJacobian ( )

compute the Jacobien of the measurements dynamics at the last computed value

◆ measureDynamicsJacobian() [2/2]

stateObservation::Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::measureDynamicsJacobian	(	const stateObservation::Vector &	x,
		const stateObservation::Vector &	u,
		TimeIndex	k
	)

compute the Jacobien of the measurements dynamics at a given state value

◆ resetMeasurementNoise()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::resetMeasurementNoise ( )

virtual

Removes the measurement noise.

◆ resetProcessNoise()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::resetProcessNoise ( )

virtual

Removes the process noise.

◆ setContactModel()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setContactModel ( unsigned nb )

virtual

◆ setContactsNumber()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setContactsNumber ( unsigned )

virtual

Sets the number of contacts.

◆ setFDstep()

void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setFDstep ( const stateObservation::Vector & dx )

sets the finite differences derivation step vector

◆ setInputSize()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setInputSize ( Index i )

virtual

Sets the input size.

◆ setKfe()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKfe ( const Matrix3 & m )

virtual

◆ setKfeRopes()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKfeRopes ( const Matrix3 & m )

virtual

◆ setKfv()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKfv ( const Matrix3 & m )

virtual

◆ setKfvRopes()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKfvRopes ( const Matrix3 & m )

virtual

◆ setKte()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKte ( const Matrix3 & m )

virtual

◆ setKteRopes()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKteRopes ( const Matrix3 & m )

virtual

◆ setKtv()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKtv ( const Matrix3 & m )

virtual

◆ setKtvRopes()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setKtvRopes ( const Matrix3 & m )

virtual

◆ setMeasurementNoise()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setMeasurementNoise ( stateObservation::NoiseBase * )

virtual

Sets a noise which disturbs the measurements.

◆ setPe()

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

inlinevirtual

◆ setPrinted()

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

inlinevirtual

◆ setProcessNoise()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setProcessNoise ( stateObservation::NoiseBase * )

virtual

Sets a noise which disturbs the state dynamics.

◆ setRobotMass()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setRobotMass ( double d )

virtual

◆ setSamplingPeriod()

virtual void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setSamplingPeriod ( double dt )

virtual

Set the period of the time discretization.

◆ setWithAbsolutePosition()

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

virtual

◆ setWithComBias()

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

virtual

◆ setWithForceMeasurements()

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

virtual

◆ setWithUnmodeledForces()

void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::setWithUnmodeledForces ( bool b )

◆ 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.

◆ stateDynamicsJacobian() [1/2]

stateObservation::Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::stateDynamicsJacobian ( )

compute the jacobien of the state dynamics at the last computed value

◆ stateDynamicsJacobian() [2/2]

stateObservation::Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::stateDynamicsJacobian	(	const stateObservation::Vector &	x,
		const stateObservation::Vector &	u,
		TimeIndex	k
	)

compute the jacobien of the state dynamics at a given state

◆ test()

void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::test ( )

◆ updateMeasurementSize_()

void stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::updateMeasurementSize_ ( )

protected

Member Data Documentation

◆ contactModel_

unsigned stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::contactModel_

protected

◆ contactPositions_

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

protected

◆ dt_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::dt_

protected

◆ dx_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::dx_

protected

◆ fc_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::fc_

protected

◆ index_

unsigned stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::index_

protected

◆ inputSize_

Index stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::inputSize_

protected

◆ kcurrent_

TimeIndex stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::kcurrent_

protected

◆ Kfe_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Kfe_

protected

◆ KfeRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KfeRopes_

protected

◆ Kfv_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Kfv_

protected

◆ KfvRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KfvRopes_

protected

◆ Kte_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Kte_

protected

◆ KteRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KteRopes_

protected

◆ Ktv_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Ktv_

protected

◆ KtvRopes_

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::KtvRopes_

protected

◆ marginalStabilityFactor_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::marginalStabilityFactor_

protected

◆ measurementSize_

Index stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::measurementSize_

protected

◆ measurementSizeBase_

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

staticconstexprprotected

◆ nbContacts_

unsigned stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::nbContacts_

protected

◆ op_

struct stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::op_

protected

◆ pe

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

protected

◆ printed_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::printed_

protected

◆ processNoise_

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

protected

◆ robotMass_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::robotMass_

protected

◆ robotMassInv_

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::robotMassInv_

protected

◆ sensor_

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

protected

◆ stateSize_

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

staticconstexprprotected

◆ tc_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::tc_

protected

◆ uk_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::uk_

protected

◆ uk_fory_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::uk_fory_

protected

◆ withAbsolutePos_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withAbsolutePos_

protected

◆ withComBias_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withComBias_

protected

◆ withForceMeasurements_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withForceMeasurements_

protected

◆ withUnmodeledForces_

bool stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::withUnmodeledForces_

protected

◆ xk1_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::xk1_

protected

◆ xk_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::xk_

protected

◆ xk_fory_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::xk_fory_

protected

◆ yk_

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::yk_

protected

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

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

Constructor & Destructor Documentation

◆ IMUElasticLocalFrameDynamicalSystem()

◆ ~IMUElasticLocalFrameDynamicalSystem()

Member Function Documentation

◆ computeAccelerations() [1/2]

◆ computeAccelerations() [2/2]

◆ computeContactWrench()

◆ computeElastContactForcesAndMoments()

◆ computeElastPendulumForcesAndMoments()

◆ computeForcesAndMoments() [1/2]

◆ computeForcesAndMoments() [2/2]

◆ computeRotation_()

◆ getContactsNumber()

◆ getForcesAndMoments() [1/2]

◆ getForcesAndMoments() [2/2]

◆ getInputSize()

◆ getKfe()

◆ getKfv()

◆ getKte()

◆ getKtv()

◆ getMeasurementNoise()

◆ getMeasurementSize()

◆ getMomentaDotFromForces()

◆ getMomentaDotFromKinematics()

◆ getProcessNoise()

◆ getRobotMass()

◆ getStateSize()

◆ getWithAbsolutePosition()

◆ getWithComBias()

◆ getWithForceMeasurements()

◆ iterateDynamicsEuler()

◆ iterateDynamicsRK4()

◆ measureDynamics()

◆ measureDynamicsJacobian() [1/2]

◆ measureDynamicsJacobian() [2/2]

◆ resetMeasurementNoise()

◆ resetProcessNoise()

◆ setContactModel()

◆ setContactsNumber()

◆ setFDstep()

◆ setInputSize()

◆ setKfe()

◆ setKfeRopes()

◆ setKfv()

◆ setKfvRopes()

◆ setKte()

◆ setKteRopes()

◆ setKtv()

◆ setKtvRopes()

◆ setMeasurementNoise()

◆ setPe()

◆ setPrinted()

◆ setProcessNoise()

◆ setRobotMass()

◆ setSamplingPeriod()

◆ setWithAbsolutePosition()

◆ setWithComBias()

◆ setWithForceMeasurements()

◆ setWithUnmodeledForces()

◆ stateDynamics()

◆ stateDynamicsJacobian() [1/2]

◆ stateDynamicsJacobian() [2/2]

◆ test()

◆ updateMeasurementSize_()

Member Data Documentation

◆ contactModel_

◆ contactPositions_

◆ dt_

◆ dx_

◆ fc_

◆ index_