kinetics-observer.hpp File Reference

Unified Kinetics estimator. More...

#include <set>
#include <boost/utility.hpp>
#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/observer/extended-kalman-filter.hpp>
#include <state-observation/sensors-simulation/accelerometer-gyrometer.hpp>
#include <state-observation/tools/definitions.hpp>
#include <state-observation/tools/rigid-body-kinematics.hpp>
#include <state-observation/tools/state-vector-arithmetics.hpp>
#include <state-observation/dynamics-estimators/kinetics-observer.hxx>

Include dependency graph for kinetics-observer.hpp:

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Classes
class	stateObservation::KineticsObserver
	This observer estimates the kinematics, the external forces, the bias on the gyrometers measurements, and the contacts forces and pose. More...
struct	stateObservation::KineticsObserver::Sensor
struct	stateObservation::KineticsObserver::IMU
struct	stateObservation::KineticsObserver::Contact
struct	stateObservation::KineticsObserver::AbsolutePoseSensor
struct	stateObservation::KineticsObserver::AbsoluteOriSensor
struct	stateObservation::KineticsObserver::Opt
	a structure to optimize computations 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

Unified Kinetics estimator.

Author

Mehdi Benallegue

Date

2018

Definition in file kinetics-observer.hpp.