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13 #ifndef FLEXIBILITYESTIMATION_EKFFLEXIBILITYESTIMATORBASE_H
14 #define FLEXIBILITYESTIMATION_EKFFLEXIBILITYESTIMATORBASE_H
16 #include <boost/utility.hpp>
18 #include <state-observation/api.h>
25 namespace flexibilityEstimation
45 Index measurementSize,
47 const Vector & dx = Vector::Zero(0));
56 virtual void setFlexibilityGuess(
const Matrix &) = 0;
59 virtual void setFlexibilityCovariance(
const Matrix & P);
62 virtual Matrix getFlexibilityCovariance()
const;
66 virtual void setProcessNoiseCovariance(
const Matrix & Q);
70 virtual void setMeasurementNoiseCovariance(
const Matrix & R);
73 virtual Matrix getProcessNoiseCovariance()
const;
76 virtual Matrix getMeasurementNoiseCovariance()
const;
79 virtual void setMeasurement(
const Vector & y);
81 virtual Vector getMeasurement();
85 virtual void setInput(
const Vector & u);
89 virtual void setMeasurementInput(
const Vector & u);
93 virtual Vector getMeasurementInput();
96 virtual const Vector & getFlexibilityVector();
99 virtual Matrix4 getFlexibility() = 0;
109 virtual Index getStateSize()
const = 0;
113 virtual Index getMeasurementSize()
const = 0;
117 virtual Index getInputSize()
const = 0;
120 virtual Vector getSimulatedMeasurement();
123 virtual void resetCovarianceMatrices() = 0;
126 virtual Vector getInnovation();
129 virtual Vector getPredictedMeasurement();
132 virtual Vector getPrediction();
135 virtual Vector getLastPredictedMeasurement();
138 virtual Vector getLastPrediction();
141 virtual void setJacobians(
const Matrix & A,
const Matrix & C);
143 virtual void useFiniteDifferencesJacobians(
Vector dx);
159 #endif // FLEXIBILITYESTIMATION_EKFFLEXIBILITYESTIMATORBASE_H
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
Eigen::Matrix4d Matrix4
4x4 Scalar Matrix
Definition: definitions.hpp:115
Definition: extended-kalman-filter.hpp:42
This class is the base class of the flexibility estimators that use an extended Kalman Filter....
Definition: ekf-flexibility-estimator-base.hpp:35
Vector lastX_
Definition: ekf-flexibility-estimator-base.hpp:151
Eigen::MatrixXd Matrix
Dynamic sized Matrix.
Definition: definitions.hpp:100
stateObservation::ExtendedKalmanFilter ekf_
Definition: ekf-flexibility-estimator-base.hpp:145
long int TimeIndex
Definition: definitions.hpp:139
Vector dx_
Definition: ekf-flexibility-estimator-base.hpp:149
TimeIndex k_
Definition: ekf-flexibility-estimator-base.hpp:153
This class is the base class of the flexibility estimators.
Definition: flexibility-estimator-base.hpp:27
Eigen::Index Index
Definition: definitions.hpp:138
Definitions of base class for flexibility estimator.
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
bool finiteDifferencesJacobians_
Definition: ekf-flexibility-estimator-base.hpp:147