offline-model-base-flex-estimation.hpp

 
#ifndef FLEXIBILITYESTIMATION_OFFLINEMODELBASEFLEXESTIMATOR_H
#define FLEXIBILITYESTIMATION_OFFLINEMODELBASEFLEXESTIMATOR_H
 
#include <state-observation/api.h>
#include <state-observation/flexibility-estimation/model-base-ekf-flex-estimator-imu.hpp>
#include <vector>
 
namespace stateObservation
{
namespace examples
{

stateObservation::IndexedVectorArray offlineModelBaseFlexEstimation(
    const stateObservation::IndexedVectorArray & y,
    const stateObservation::IndexedVectorArray & u,
    const Matrix & xh0,
    const stateObservation::IndexedVectorArray numberOfContacts,
    double dt,
    double mass,
    bool withForce,
    const stateObservation::IndexedMatrixArray & Q = stateObservation::IndexedMatrixArray(),
    const stateObservation::IndexedMatrixArray & R = stateObservation::IndexedMatrixArray(),
    const Matrix3 & kfe = Matrix3::Zero(),
    const Matrix3 & kfv = Matrix3::Zero(),
    const Matrix3 & kte = Matrix3::Zero(),
    const Matrix3 & ktv = Matrix3::Zero(),
    IndexedVectorArray * prediction = 0x0,
    IndexedVectorArray * inovation = 0x0,
    IndexedVectorArray * predictedMeasurements = 0x0,
    IndexedVectorArray * simulatedMeasurements = 0x0,
    int verbose = 0x0);
 
#include <state-observation/examples/offline-model-base-flex-estimation.hxx>
 
} // namespace examples
 
} // namespace stateObservation
 
#endif // FLEXIBILITYESTIMATION_OFFLINEEKFFLEXIBILITYESTIMATION_H