model-base-ekf-flex-estimator-imu.hpp File Reference

Declares the class of the estimation of the flexibility using an extended Kalman filter and a fixed contact hypothesis. More...

#include <state-observation/api.h>
#include <state-observation/flexibility-estimation/ekf-flexibility-estimator-base.hpp>
#include <state-observation/flexibility-estimation/imu-elastic-local-frame-dynamical-system.hpp>

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Classes
class	stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU
	This class implements the flexibility estimation of a robot with the hypothesis that the contact positions do not move. This constraint is expressed using fictious measurements but the interface is transparent to this assumption, the state is expressed using classical representation of position, velocity, acceleration, orientation (using (theta x mu) representation) angular velocity (omega) and acceleration (omega dot). More...
struct	stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::contactModel
struct	stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU::optimization

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

Declares the class of the estimation of the flexibility using an extended Kalman filter and a fixed contact hypothesis.

Author

Mehdi Benallegue

Date

2013

Definition in file model-base-ekf-flex-estimator-imu.hpp.