fixed-contact-ekf-flex-estimator-imu.hpp

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#ifndef FLEXBILITYESTMATOR_FIXEDCONTACTEKFFLEXIBILITYESTIMATOR_IMU_H
#define FLEXBILITYESTMATOR_FIXEDCONTACTEKFFLEXIBILITYESTIMATOR_IMU_H
 
#include <state-observation/api.h>
#include <state-observation/flexibility-estimation/ekf-flexibility-estimator-base.hpp>
#include <state-observation/flexibility-estimation/imu-fixed-contact-dynamical-system.hpp>
 
namespace stateObservation
{
namespace flexibilityEstimation
{

 
class STATE_OBSERVATION_DLLAPI FixedContactEKFFlexEstimatorIMU : public EKFFlexibilityEstimatorBase,
                                                                 private boost::noncopyable
{
public:
  explicit FixedContactEKFFlexEstimatorIMU(double dt = 0.005);

  virtual ~FixedContactEKFFlexEstimatorIMU();

  void setContactsNumber(unsigned i);

  void setContactPosition(unsigned i, Vector3 position);

  virtual void setMeasurement(const Vector & y);

  virtual void setVirtualMeasurementsCovariance(double c_);

  virtual double getVirtualMeasurementsCovariance() const;

  virtual void setProcessNoiseCovariance(const Matrix & Q);

  virtual void setMeasurementNoiseCovariance(const Matrix & R);

  virtual Matrix getProcessNoiseCovariance() const;

  virtual Matrix getMeasurementNoiseCovariance() const;

  virtual void setFlexibilityGuess(const Matrix & x);

  virtual Matrix4 getFlexibility();

  virtual const Vector & getFlexibilityVector();
 
  virtual Index getMeasurementSize() const;
 
  virtual Index getStateSize() const;
 
  virtual Index getInputSize() const;

  virtual void setSamplingPeriod(double);

  virtual void resetCovarianceMatrices();
 
protected:
  typedef kine::indexes<kine::rotationVector> indexes;
 
  virtual void updateCovarianceMatrix_();
 
  IMUFixedContactDynamicalSystem functor_;
 
  double virtualMeasurementCovariance_;
 
  Matrix R_, Q_;
 
  static const Index stateSizeConst_ = 18;
  static const Index measurementSizeConst_ = 6;
  static const Index inputSizeConst_ = 15;
 
  double dt_; // sampling period
 
private:
};
 
} // namespace flexibilityEstimation
} // namespace stateObservation
#endif // FLEXBILITYESTMATOR_FIXEDCONTACTEKFFLEXIBILITYESTIMATOR_H