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/model-base-ekf-flex-estimator-imu.hpp>

Inheritance diagram for stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU:

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Collaboration diagram for stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU:

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Classes
struct	contactModel

struct	optimization

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

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

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

unsigned	getContactsNumber ()

IMUElasticLocalFrameDynamicalSystem	getFunctor ()

virtual stateObservation::Vector	computeAccelerations ()

void	setContactModel (unsigned nb)

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

virtual Vector	getMomentaDotFromKinematics ()

virtual Vector	getForcesAndMoments ()

stateObservation::Vector	getStateCovariance () const

virtual void	setComBiasGuess (const stateObservation::Vector &x)

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 stateObservation::Matrix &	computeLocalObservationMatrix ()

virtual stateObservation::Matrix	getAMatrix ()

virtual stateObservation::Matrix	getCMatrix ()

virtual Index	getMeasurementSize () const

virtual Index	getStateSize () const

virtual Index	getInputSize () const

virtual void	setWithForcesMeasurements (bool)
	sets to whether or not the force mesurements are taken into account More...

bool	getWithForcesMeasurements ()

virtual void	setWithAbsolutePos (bool)

void	setWithUnmodeledForces (bool b)

bool	getWithUnmodeledForces ()

bool	getWithAbsolutePos ()

virtual void	setWithComBias (bool b)

virtual bool	getWithComBias ()

virtual void	setUnmodeledForceVariance (double d)

virtual void	setUnmodeledForceProcessVariance (double d)

virtual void	setForceVariance (double d)

virtual void	setForceVariance (const Matrix3 &C)

virtual void	setAbsolutePosVariance (double d)

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

void	setOn (bool &b)
	Enable or disable the estimation. More...

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 void	setPe (const stateObservation::Vector3 &Pe)

virtual Matrix	getKfe () const

virtual Matrix	getKfv () const

virtual Matrix	getKte () const

virtual Matrix	getKtv () const

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

virtual void	resetStateCovarianceMatrix ()

virtual void	setRobotMass (double m)

virtual double	getRobotMass () const

void	setTorquesLimit (const Vector3 &v)

void	setForcesLimit (const Vector3 &v)

virtual stateObservation::Vector3	getForcesLimit () const

virtual stateObservation::Vector3	getTorquesLimit () const

void	setLimitOn (const bool &b)

virtual bool	getLimitOn () const

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...

Static Public Member Functions
static Matrix	getDefaultQ ()

static Matrix6	getDefaultRIMU ()

Protected Member Functions
virtual void	updateMeasurementCovarianceMatrix_ ()

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

virtual void	useFiniteDifferencesJacobians (Vector dx)

Protected Attributes
IMUElasticLocalFrameDynamicalSystem	functor_

Vector	x_

Matrix	R_

Matrix	Q_

Matrix	P_

const Index	stateSize_

Index	inputSize_

double	dt_

bool	on_

double	unmodeledForceVariance_

Matrix	forceVariance_

double	absPosVariance_

bool	useFTSensors_

bool	withAbsolutePos_

bool	withComBias_

bool	withUnmodeledForces_

Vector3	limitTorques_

Vector3	limitForces_

bool	limitOn_

struct stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::optimization	op_

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

bool	finiteDifferencesJacobians_

Vector	dx_

Vector	lastX_

TimeIndex	k_

Static Protected Attributes
static const Index	measurementSizeBase_ = 12

static const Index	inputSizeBase_ = IMUElasticLocalFrameDynamicalSystem::input::sizeBase

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)

Constructor & Destructor Documentation

◆ ModelBaseEKFFlexEstimatorIMU()

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

explicit

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

◆ ~ModelBaseEKFFlexEstimatorIMU()

virtual stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::~ModelBaseEKFFlexEstimatorIMU ( )

virtual

Virtual destructor.

Member Function Documentation

◆ computeAccelerations()

virtual stateObservation::Vector stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::computeAccelerations ( )

inlinevirtual

◆ computeLocalObservationMatrix()

virtual stateObservation::Matrix& stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::computeLocalObservationMatrix ( )

virtual

◆ getAMatrix()

virtual stateObservation::Matrix stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getAMatrix ( )

inlinevirtual

◆ getCMatrix()

virtual stateObservation::Matrix stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getCMatrix ( )

inlinevirtual

◆ getContactsNumber()

unsigned stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getContactsNumber ( )

inline

◆ getDefaultQ()

static Matrix stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getDefaultQ ( )

static

◆ getDefaultRIMU()

static Matrix6 stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getDefaultRIMU ( )

static

◆ getFlexibility()

virtual Matrix4 stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::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::ModelBaseEKFFlexEstimatorIMU::getFlexibilityVector ( )

virtual

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

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getForcesAndMoments()

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

virtual

◆ getForcesLimit()

virtual stateObservation::Vector3 stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getForcesLimit ( ) const

inlinevirtual

◆ getFunctor()

IMUElasticLocalFrameDynamicalSystem stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getFunctor ( )

inline

◆ getInputSize()

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

virtual

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

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getKfe()

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

virtual

◆ getKfv()

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

virtual

◆ getKte()

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

virtual

◆ getKtv()

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

virtual

◆ getLimitOn()

virtual bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getLimitOn ( ) const

inlinevirtual

◆ getMeasurementNoiseCovariance()

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

virtual

gets the covariance matrices for the sensor noises

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getMeasurementSize()

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

virtual

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

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getMomentaDotFromForces()

virtual Vector stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getMomentaDotFromForces ( )

virtual

◆ getMomentaDotFromKinematics()

virtual Vector stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getMomentaDotFromKinematics ( )

virtual

◆ getProcessNoiseCovariance()

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

virtual

gets the covariance matrices for the process noises

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getRobotMass()

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

inlinevirtual

◆ getStateCovariance()

stateObservation::Vector stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getStateCovariance ( ) const

inline

◆ getStateSize()

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

virtual

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

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ getTorquesLimit()

virtual stateObservation::Vector3 stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getTorquesLimit ( ) const

inlinevirtual

◆ getWithAbsolutePos()

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getWithAbsolutePos ( )

inline

◆ getWithComBias()

virtual bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getWithComBias ( )

inlinevirtual

◆ getWithForcesMeasurements()

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getWithForcesMeasurements ( )

◆ getWithUnmodeledForces()

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::getWithUnmodeledForces ( )

inline

◆ resetCovarianceMatrices()

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

virtual

Resets the covariance matrices to their original values.

Implements stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ resetStateCovarianceMatrix()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::resetStateCovarianceMatrix ( )

virtual

◆ setAbsolutePosVariance()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setAbsolutePosVariance ( double d )

virtual

◆ setComBiasGuess()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setComBiasGuess ( const stateObservation::Vector & x )

virtual

◆ setContactModel()

void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setContactModel ( unsigned nb )

◆ setContactsNumber()

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

Sets the number of contacts can be changed online.

◆ setFlexibilityGuess()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::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.

◆ setForcesLimit()

void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setForcesLimit ( const Vector3 & v )

inline

◆ setForceVariance() [1/2]

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setForceVariance ( const Matrix3 & C )

virtual

◆ setForceVariance() [2/2]

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setForceVariance ( double d )

virtual

sets the force sensor variance, either with a diagonal matrix with constant diagonal, or using a 3x3 matrix

◆ setKfe()

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

virtual

◆ setKfeRopes()

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

virtual

◆ setKfv()

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

virtual

◆ setKfvRopes()

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

virtual

◆ setKte()

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

virtual

◆ setKteRopes()

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

virtual

◆ setKtv()

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

virtual

◆ setKtvRopes()

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

virtual

◆ setLimitOn()

void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setLimitOn ( const bool & b )

inline

◆ setMeasurement()

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

virtual

Sets the measurements covariance matrice.

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ setOn()

void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setOn ( bool & b )

Enable or disable the estimation.

◆ setPe()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setPe ( const stateObservation::Vector3 & Pe )

inlinevirtual

◆ setProcessNoiseCovariance()

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

virtual

Sets the process covariance matrice.

Reimplemented from stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase.

◆ setRobotMass()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setRobotMass ( double m )

virtual

◆ setSamplingPeriod()

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

virtual

sets the sampling period

◆ setTorquesLimit()

void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setTorquesLimit ( const Vector3 & v )

inline

◆ setUnmodeledForceProcessVariance()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setUnmodeledForceProcessVariance ( double d )

virtual

◆ setUnmodeledForceVariance()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setUnmodeledForceVariance ( double d )

virtual

◆ setWithAbsolutePos()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setWithAbsolutePos ( bool )

virtual

◆ setWithComBias()

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

virtual

◆ setWithForcesMeasurements()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::setWithForcesMeasurements ( bool )

virtual

sets to whether or not the force mesurements are taken into account

◆ setWithUnmodeledForces()

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

◆ updateMeasurementCovarianceMatrix_()

virtual void stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::updateMeasurementCovarianceMatrix_ ( )

protectedvirtual

Member Data Documentation

◆ absPosVariance_

double stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::absPosVariance_

protected

◆ dt_

double stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::dt_

protected

◆ forceVariance_

Matrix stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::forceVariance_

protected

◆ functor_

IMUElasticLocalFrameDynamicalSystem stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::functor_

protected

◆ inputSize_

Index stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::inputSize_

protected

◆ inputSizeBase_

const Index stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::inputSizeBase_ = IMUElasticLocalFrameDynamicalSystem::input::sizeBase

staticprotected

◆ limitForces_

Vector3 stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::limitForces_

protected

◆ limitOn_

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::limitOn_

protected

◆ limitTorques_

Vector3 stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::limitTorques_

protected

◆ measurementSizeBase_

const Index stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::measurementSizeBase_ = 12

staticprotected

◆ on_

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::on_

protected

◆ op_

struct stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::optimization stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::op_

protected

◆ P_

Matrix stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::P_

protected

◆ Q_

Matrix stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::Q_

protected

◆ R_

Matrix stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::R_

protected

◆ stateSize_

const Index stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::stateSize_

protected

◆ unmodeledForceVariance_

double stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::unmodeledForceVariance_

protected

◆ useFTSensors_

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::useFTSensors_

protected

◆ withAbsolutePos_

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::withAbsolutePos_

protected

◆ withComBias_

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::withComBias_

protected

◆ withUnmodeledForces_

bool stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::withUnmodeledForces_

protected

◆ x_

Vector stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::x_

protected

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

include/state-observation/flexibility-estimation/model-base-ekf-flex-estimator-imu.hpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ModelBaseEKFFlexEstimatorIMU()

◆ ~ModelBaseEKFFlexEstimatorIMU()

Member Function Documentation

◆ computeAccelerations()

◆ computeLocalObservationMatrix()

◆ getAMatrix()

◆ getCMatrix()

◆ getContactsNumber()

◆ getDefaultQ()

◆ getDefaultRIMU()

◆ getFlexibility()

◆ getFlexibilityVector()

◆ getForcesAndMoments()

◆ getForcesLimit()

◆ getFunctor()

◆ getInputSize()

◆ getKfe()

◆ getKfv()

◆ getKte()

◆ getKtv()

◆ getLimitOn()

◆ getMeasurementNoiseCovariance()

◆ getMeasurementSize()

◆ getMomentaDotFromForces()

◆ getMomentaDotFromKinematics()

◆ getProcessNoiseCovariance()

◆ getRobotMass()

◆ getStateCovariance()

◆ getStateSize()

◆ getTorquesLimit()

◆ getWithAbsolutePos()

◆ getWithComBias()

◆ getWithForcesMeasurements()

◆ getWithUnmodeledForces()

◆ resetCovarianceMatrices()

◆ resetStateCovarianceMatrix()

◆ setAbsolutePosVariance()

◆ setComBiasGuess()

◆ setContactModel()

◆ setContactsNumber()

◆ setFlexibilityGuess()

◆ setForcesLimit()

◆ setForceVariance() [1/2]

◆ setForceVariance() [2/2]

◆ setKfe()

◆ setKfeRopes()

◆ setKfv()

◆ setKfvRopes()

◆ setKte()

◆ setKteRopes()

◆ setKtv()

◆ setKtvRopes()

◆ setLimitOn()

◆ setMeasurement()

◆ setMeasurementNoiseCovariance()

◆ setOn()

◆ setPe()

◆ setProcessNoiseCovariance()

◆ setRobotMass()

◆ setSamplingPeriod()

◆ setTorquesLimit()

◆ setUnmodeledForceProcessVariance()

◆ setUnmodeledForceVariance()

◆ setWithAbsolutePos()

◆ setWithComBias()

◆ setWithForcesMeasurements()

◆ setWithUnmodeledForces()

◆ updateMeasurementCovarianceMatrix_()

Member Data Documentation

◆ absPosVariance_

◆ dt_

◆ forceVariance_