offline-ekf-flexibility-estimation.hpp

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#ifndef FLEXIBILITYESTIMATION_OFFLINEEKFFLEXIBILITYESTIMATION_H
#define FLEXIBILITYESTIMATION_OFFLINEEKFFLEXIBILITYESTIMATION_H
 
#include <state-observation/flexibility-estimation/fixed-contact-ekf-flex-estimator-imu.hpp>
#include <vector>
 
namespace stateObservation
{
namespace examples
{

stateObservation::IndexedVectorArray offlineEKFFlexibilityEstimation(
    const stateObservation::IndexedVectorArray & y,
    const stateObservation::IndexedVectorArray & u,
    const Vector & xh0,
    unsigned numberOfContacts,
    const std::vector<Vector3, Eigen::aligned_allocator<Vector3>> & contactsPositions,
    double dt,
    IndexedVectorArray * ino = 0x0,
    IndexedVectorArray * premea = 0x0);

stateObservation::IndexedVectorArray offlineEKFFlexibilityEstimation(
    const stateObservation::IndexedVectorArray & y,
    const Vector & xh0,
    unsigned numberOfContacts,
    const std::vector<Vector3, Eigen::aligned_allocator<Vector3>> & contactsPositions,
    double dt);
 
#include <state-observation/examples/offline-ekf-flexibility-estimation.hxx>
 
} // namespace examples
 
} // namespace stateObservation
 
#endif // FLEXIBILITYESTIMATION_OFFLINEEKFFLEXIBILITYESTIMATION_H