imu-fixed-contact-dynamical-system.hpp File Reference

Definitions of the dynamical system of a robot flexibility with an IMU sensor. More...

#include <vector>
#include <state-observation/api.h>
#include <state-observation/dynamical-system/dynamical-system-functor-base.hpp>
#include <state-observation/noise/noise-base.hpp>
#include <state-observation/sensors-simulation/accelerometer-gyrometer.hpp>
#include <state-observation/tools/rigid-body-kinematics.hpp>

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Classes
class	stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem
	This class describes the dynamics of a robot's flexibility this dynamics is the simplest possible system, the flexibility is expressed as a rotation against the contact positions with no other hypothesis than that the contact points are at constant position. More...

Namespaces
namespace	stateObservation
	Filtering of divergent component of motion (DCM) and estimation of a bias betweeen the DCM and the corresponding zero moment point for a linearized inverted pendulum model.

Detailed Description

Definitions of the dynamical system of a robot flexibility with an IMU sensor.

Author

Mehdi Benallegue

Date

2013

Definition in file imu-fixed-contact-dynamical-system.hpp.