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. More...

Classes
class	BidimElasticInvPendulum
	The class is an implementation of the dynamical system defined by a 2D inverted pendulum with an elastic joint. The input is the horizontal acceleration. More...
class	DynamicalSystemFunctorBase
	This is the base class of any functor that describes the dynamics of the state and the measurement. This class is to be derived in order to be given to the Extended Kalman Filter. More...
class	DynamicalSystemSimulator
	The class gives a small encapsulation of the dynamics functor, which enables the simulation of the dynamics and the storage of states, inputs and measurements. More...
class	IMUDynamicalSystem
	The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer. More...
class	IMUMagnetometerDynamicalSystem
	The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientation and rotation velocity and acceleration. The sensors are the accelerometer, the gyrometer and the magnetometer. More...
class	IMUMltpctiveDynamicalSystem
	The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer. More...
class	KineticsObserver
	This observer estimates the kinematics, the external forces, the bias on the gyrometers measurements, and the contacts forces and pose. More...
class	LipmDcmEstimator
	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. More...
class	UnidimLipmDcmEstimator
	1D version of the estimation of a bias betweeen the divergent component of motion and the corresponding zero moment point for a linearized inverted pendulum model. More...
class	ZmpTrackingGainEstimator
class	GaussianWhiteNoise
	The class derivates the NoiseBase class to implement a gaussian white noise with a given covariance matrix, and bias. More...
class	NoiseBase
class	ExtendedKalmanFilter
class	KalmanFilterBase
	It mostly implements the equations of Kalman filtering It is suitablle by derivation to be used incases of Linear, linearized and extended Kalman filtering. It may be derived to unscented Kalman filtering, but non-straighforwardly because the state vector is modified. This class requires to be derived to overload the update routine and the measurements simulation routine. More...
class	LinearKalmanFilter
	The class of a Linear Kalman filter. More...
class	ObserverBase
	The base class for observers. The observer is destinated to any dynamical system with a vector state representation. This class mostly defined an abstract interface, static constants and types. It is templated by: More...
class	TiltEstimatorHumanoid
	Version of the Tilt Estimator for humanoid robots. More...
class	TiltEstimator
	Description is pending. More...
class	ZeroDelayObserver
	Defines the base class of online zero delay observers. Zero delay observers are the classical state observers where input and state values at instant k and the measurement value at instant k+1 are enough to provide the estimation of the state at instant k+1. This class mostly defines the data structures for storing the vectors, it describes the set routines and the observation loop mechanism. It requires to be derviated to implement the new oneStepEstimation_() method. More...
class	AccelerometerGyrometerMagnetometer
	Implements the accelerometer-gyrometer-magnetometer measurements. More...
class	AccelerometerGyrometer
	Implements the accelerometer-gyrometer measurements. More...
class	AlgebraicSensor
	The base class for algebraic sensors. Algebraic sensors are sensors which depend only on the state value and the current time and do not have internal dynamics (or a dynamics which converges fast enough to be ignored). This class implements mostly the containers and the interface to algebraic sensors. Algebraic sensors must be derived from this class. More...
class	SensorBase
	The base class for sensors. This must be derived to implement a sensor. More...
struct	isEigen
	Checks if it is derived from EigenBase (the base class of all dense functions). More...
struct	isMatrix
	Checks if a class is a specialization of Eigen::Matrix. More...
struct	isMatrix< Eigen::Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols > >
struct	EigenType
struct	MatrixType
class	FixOrDynMatrixToolsBySize
class	FixOrDynMatrixToolsBySize<-1, compileTimeCols >
class	FixOrDynMatrixToolsBySize< compileTimeRows, -1 >
class	FixOrDynMatrixToolsBySize<-1, -1 >
class	FixOrDynMatrixTools
class	DebugItemDefaultValue
class	DebugItem
class	DebugItem< T, defaultValue, false >
	this specialization contains no object More...
struct	EmptyChecker
	This structure is used as an additionalChecker for a CheckedItem that doesn't require additional tests. More...
class	CheckedItem
	this is a structure allowing for automatically verifying that the item has been initialized or not. The chckitm_reset() function allows to set it back to "not initialized" state. More...
struct	CheckNaN
	Additional checker that allows to check for the presence of NaN values in the item. More...
class	IndexedMatrixT
	This class describes a structure composed by a matrix of a given size and a time-index parameter. It can tell also if it is initialized or not. More...
class	IndexedMatrixArrayT
	This class describes a structure that enables to store array of matrices with time indexation. More...
class	StateVectorArithmetics
	This class is used to customize the way the difference between measurements, the state update function and the differentiation are performed. default is the usual natual arithmetics. overload any ohter one. More...

Typedefs
typedef Eigen::VectorXd	Vector
	Dynamic sized scalar vector.
typedef Eigen::Matrix< double, 1, 1 >	Vector1
	1D Vector
typedef Eigen::Matrix< double, 2, 1 >	Vector2
	2d Vector
typedef Eigen::Vector3d	Vector3
	3D vector
typedef Eigen::Matrix< double, 3, 1, Eigen::DontAlign >	Vector3Unaligned
	3D vector unaligned
typedef Eigen::Vector4d	Vector4
	4D vector
typedef Eigen::Matrix< double, 5, 1 >	Vector5
	5D vector
typedef Eigen::Matrix< double, 6, 1 >	Vector6
	6D vector
typedef Eigen::MatrixXd	Matrix
	Dynamic sized Matrix.
typedef Eigen::Matrix< double, 1, 1 >	Matrix1
	1D scalar Matrix
typedef Eigen::Matrix2d	Matrix2
	2D scalar Matrix
typedef Eigen::Matrix3d	Matrix3
	3x3 Scalar Matrix
typedef Eigen::Matrix< double, 3, 3, Eigen::DontAlign >	Matrix3Unaligned
	3x3 Scalar Matrix Unaligned
typedef Eigen::Matrix4d	Matrix4
	4x4 Scalar Matrix
typedef Eigen::Matrix< double, 5, 5 >	Matrix5
	5x5 Scalar Matrix
typedef Eigen::Matrix< double, 6, 6 >	Matrix6
	6x6 Scalar Matrix
typedef Eigen::Matrix< double, 12, 12 >	Matrix12
	12x12 scalar Matrix
typedef Eigen::Quaterniond	Quaternion
	Quaternion.
typedef Eigen::Quaternion< double, Eigen::DontAlign >	QuaternionUnaligned
	Quaternion Unaligned.
typedef Eigen::AngleAxis< double >	AngleAxis
	Euler Axis/Angle representation of orientation.
typedef Eigen::Rotation2D< double >	Rotation2D
	2D rotations
typedef Eigen::Index	Index
typedef long int	TimeIndex
typedef Index	TimeSize
typedef CheckedItem< Matrix3, false, false, true, true, CheckNaN >	CheckedMatrix3
typedef CheckedItem< Matrix6, false, false, true, true, CheckNaN >	CheckedMatrix6
typedef CheckedItem< Matrix12, false, false, true, true, CheckNaN >	CheckedMatrix12
typedef CheckedItem< Vector3, false, false, true, true, CheckNaN >	CheckedVector3
typedef CheckedItem< Vector6, false, false, true, true, CheckNaN >	CheckedVector6
typedef CheckedItem< Quaternion, false, false, true, true >	CheckedQuaternion
typedef IndexedMatrixT< Matrix >	IndexedMatrix
typedef IndexedMatrixT< Vector >	IndexedVector
typedef IndexedMatrixT< Vector3 >	IndexedVector3
typedef IndexedMatrixT< Matrix3 >	IndexedMatrix3
typedef IndexedMatrixArrayT< Matrix >	IndexedMatrixArray
typedef IndexedMatrixArrayT< Vector >	IndexedVectorArray
typedef boost::timer::auto_cpu_timer	auto_cpu_timer
typedef boost::timer::cpu_timer	cpu_timer
typedef boost::timer::cpu_timer	cpu_times

Functions
bool	isApprox (double a, double b, double relativePrecision=cst::epsilon1)
	checks if two scalars have approximately the same value up to a given relative precision
bool	isApproxAbs (double a, double b, double absolutePrecision=cst::epsilon1)
	checks if two scalars have approximately the same value up to a given absolute precision

Variables
static const bool	isDebug = true
template<typename T, const T defaultValue>
const T	DebugItemDefaultValue< T, defaultValue >::v = defaultValue

Detailed Description

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.

Estimation of a bias betweeen the divergent component of motion and the corresponding zero moment point for a linearized inverted pendulum model.

Author: Mehdi Benallegue

Date: 2020 \detail

Typedef Documentation

◆ Vector

typedef Eigen::VectorXd stateObservation::Vector

Dynamic sized scalar vector.

Definition at line 76 of file definitions.hpp.

◆ Vector1

typedef Eigen::Matrix<double, 1, 1> stateObservation::Vector1

1D Vector

Definition at line 79 of file definitions.hpp.

◆ Vector2

typedef Eigen::Matrix<double, 2, 1> stateObservation::Vector2

2d Vector

Definition at line 82 of file definitions.hpp.

◆ Vector3

typedef Eigen::Vector3d stateObservation::Vector3

3D vector

Definition at line 85 of file definitions.hpp.

◆ Vector3Unaligned

typedef Eigen::Matrix<double, 3, 1, Eigen::DontAlign> stateObservation::Vector3Unaligned

3D vector unaligned

Definition at line 88 of file definitions.hpp.

◆ Vector4

typedef Eigen::Vector4d stateObservation::Vector4

4D vector

Definition at line 91 of file definitions.hpp.

◆ Vector5

typedef Eigen::Matrix<double, 5, 1> stateObservation::Vector5

5D vector

Definition at line 94 of file definitions.hpp.

◆ Vector6

typedef Eigen::Matrix<double, 6, 1> stateObservation::Vector6

6D vector

Definition at line 97 of file definitions.hpp.

◆ Matrix

typedef Eigen::MatrixXd stateObservation::Matrix

Dynamic sized Matrix.

Definition at line 100 of file definitions.hpp.

◆ Matrix1

typedef Eigen::Matrix<double, 1, 1> stateObservation::Matrix1

1D scalar Matrix

Definition at line 103 of file definitions.hpp.

◆ Matrix2

typedef Eigen::Matrix2d stateObservation::Matrix2

2D scalar Matrix

Definition at line 106 of file definitions.hpp.

◆ Matrix3

typedef Eigen::Matrix3d stateObservation::Matrix3

3x3 Scalar Matrix

Definition at line 109 of file definitions.hpp.

◆ Matrix3Unaligned

typedef Eigen::Matrix<double, 3, 3, Eigen::DontAlign> stateObservation::Matrix3Unaligned

3x3 Scalar Matrix Unaligned

Definition at line 112 of file definitions.hpp.

◆ Matrix4

typedef Eigen::Matrix4d stateObservation::Matrix4

4x4 Scalar Matrix

Definition at line 115 of file definitions.hpp.

◆ Matrix5

typedef Eigen::Matrix<double, 5, 5> stateObservation::Matrix5

5x5 Scalar Matrix

Definition at line 118 of file definitions.hpp.

◆ Matrix6

typedef Eigen::Matrix<double, 6, 6> stateObservation::Matrix6

6x6 Scalar Matrix

Definition at line 121 of file definitions.hpp.

◆ Matrix12

typedef Eigen::Matrix<double, 12, 12> stateObservation::Matrix12

12x12 scalar Matrix

Definition at line 124 of file definitions.hpp.

◆ Quaternion

typedef Eigen::Quaterniond stateObservation::Quaternion

Quaternion.

Definition at line 127 of file definitions.hpp.

◆ QuaternionUnaligned

typedef Eigen::Quaternion<double, Eigen::DontAlign> stateObservation::QuaternionUnaligned

Quaternion Unaligned.

Definition at line 130 of file definitions.hpp.

◆ AngleAxis

typedef Eigen::AngleAxis<double> stateObservation::AngleAxis

Euler Axis/Angle representation of orientation.

Definition at line 133 of file definitions.hpp.

◆ Rotation2D

typedef Eigen::Rotation2D<double> stateObservation::Rotation2D

2D rotations

Definition at line 136 of file definitions.hpp.

◆ Index

typedef Eigen::Index stateObservation::Index

Definition at line 138 of file definitions.hpp.

◆ TimeIndex

typedef long int stateObservation::TimeIndex

Definition at line 139 of file definitions.hpp.

◆ TimeSize

typedef Index stateObservation::TimeSize

Definition at line 140 of file definitions.hpp.

◆ CheckedMatrix3

typedef CheckedItem<Matrix3, false, false, true, true, CheckNaN> stateObservation::CheckedMatrix3

Definition at line 453 of file definitions.hpp.

◆ CheckedMatrix6

typedef CheckedItem<Matrix6, false, false, true, true, CheckNaN> stateObservation::CheckedMatrix6

Definition at line 454 of file definitions.hpp.

◆ CheckedMatrix12

typedef CheckedItem<Matrix12, false, false, true, true, CheckNaN> stateObservation::CheckedMatrix12

Definition at line 455 of file definitions.hpp.

◆ CheckedVector3

typedef CheckedItem<Vector3, false, false, true, true, CheckNaN> stateObservation::CheckedVector3

Definition at line 456 of file definitions.hpp.

◆ CheckedVector6

typedef CheckedItem<Vector6, false, false, true, true, CheckNaN> stateObservation::CheckedVector6

Definition at line 457 of file definitions.hpp.

◆ CheckedQuaternion

typedef CheckedItem<Quaternion, false, false, true, true> stateObservation::CheckedQuaternion

Definition at line 458 of file definitions.hpp.

◆ IndexedMatrix

typedef IndexedMatrixT<Matrix> stateObservation::IndexedMatrix

Definition at line 514 of file definitions.hpp.

◆ IndexedVector

typedef IndexedMatrixT<Vector> stateObservation::IndexedVector

Definition at line 515 of file definitions.hpp.

◆ IndexedVector3

typedef IndexedMatrixT<Vector3> stateObservation::IndexedVector3

Definition at line 516 of file definitions.hpp.

◆ IndexedMatrix3

typedef IndexedMatrixT<Matrix3> stateObservation::IndexedMatrix3

Definition at line 517 of file definitions.hpp.

◆ IndexedMatrixArray

typedef IndexedMatrixArrayT<Matrix> stateObservation::IndexedMatrixArray

Definition at line 658 of file definitions.hpp.

◆ IndexedVectorArray

typedef IndexedMatrixArrayT<Vector> stateObservation::IndexedVectorArray

Definition at line 659 of file definitions.hpp.

◆ auto_cpu_timer

typedef boost::timer::auto_cpu_timer stateObservation::auto_cpu_timer

Definition at line 694 of file definitions.hpp.

◆ cpu_timer

typedef boost::timer::cpu_timer stateObservation::cpu_timer

Definition at line 695 of file definitions.hpp.

◆ cpu_times

typedef boost::timer::cpu_timer stateObservation::cpu_times

Definition at line 696 of file definitions.hpp.

Function Documentation

◆ isApprox()

bool stateObservation::isApprox	(	double	a,
		double	b,
		double	relativePrecision = cst::epsilon1 )

inline

checks if two scalars have approximately the same value up to a given relative precision

Parameters

a	the first scalar
b	the second scalar
relativePrecision	the relative precision (no need to multiply by the scales of a and b)

Returns: true they are equal; false they are not

◆ isApproxAbs()

bool stateObservation::isApproxAbs	(	double	a,
		double	b,
		double	absolutePrecision = cst::epsilon1 )