stateObservation::flexibilityEstimation Namespace Reference

Classes
class	EKFFlexibilityEstimatorBase
	This class is the base class of the flexibility estimators that use an extended Kalman Filter. Several methods require to be overloaded to derive an implementation from this base class. More...
class	FixedContactEKFFlexEstimatorIMU
	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...
class	FlexibilityEstimatorBase
	This class is the base class of the flexibility estimators. More...
class	IMUElasticLocalFrameDynamicalSystem
	This class describes the dynamics of a robot's flexibility this dynamics with elastic forces to bring the contacts at their position in the environment. More...
class	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...
class	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...
class	StableIMUFixedContactDynamicalSystem
	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...