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12 #ifndef FIXED_CONTACTS_IMU_DYNAMICS_FUNCTOR_HPP
13 #define FIXED_CONTACTS_IMU_DYNAMICS_FUNCTOR_HPP
17 #include <state-observation/api.h>
25 namespace flexibilityEstimation
58 virtual void resetProcessNoise();
67 virtual void resetMeasurementNoise();
73 virtual void setSamplingPeriod(
double dt);
76 virtual Index getStateSize()
const;
78 virtual Index getInputSize()
const;
80 virtual Index getMeasurementSize()
const;
83 virtual void setContactsNumber(
unsigned);
86 virtual void setContactPosition(
unsigned i,
const Vector3 & position);
104 static const Index measurementSizeBase_ = 6;
116 #endif // FIXED-CONTACTS-IMU-DYNAMICS-FUNCTOR_HPP
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
Implements the accelerometer-gyrometer inertial measuremen.
This is the base class of any functor that describes the dynamics of the state and the measurement....
Definition: dynamical-system-functor-base.hpp:32
Definition: noise-base.hpp:28
Implements integrators for the kinematics, in terms or rotations and translations.
long int TimeIndex
Definition: definitions.hpp:139
Eigen::Index Index
Definition: definitions.hpp:138
Eigen::Quaternion< double, Eigen::DontAlign > QuaternionUnaligned
Quaternion Unaligned.
Definition: definitions.hpp:130
Eigen::Matrix< double, 3, 1, Eigen::DontAlign > Vector3Unaligned
3D vector unaligned
Definition: definitions.hpp:88
Eigen::Vector3d Vector3
3D vector
Definition: definitions.hpp:85
Eigen::Quaterniond Quaternion
Quaternion.
Definition: definitions.hpp:127
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
Implements the accelerometer-gyrometer measurements.
Definition: accelerometer-gyrometer.hpp:33