stateObservation::KineticsObserver::Contact Struct Reference

Inheritance diagram for stateObservation::KineticsObserver::Contact:

Collaboration diagram for stateObservation::KineticsObserver::Contact:

Public Attributes
Kinematics	worldRestPose
	State ///.
Vector6	wrenchMeasurement
	Measurements ///.
Kinematics	userContactKine
	Describes the measured wrench (forces + torques) at the contact in the sensor's frame.
Kinematics	centroidContactKine
	Describes the kinematics of the contact point in the centroid's frame.
CheckedMatrix6	sensorCovMatrix
	Describes the kinematics of the contact point in the centroid's frame.
Matrix3	linearStiffness
	measurement covariance matrix of the wrench sensor attached to the contact.
Matrix3	linearDamping
	linear stiffness associated to the contact, used in the visco-elastic model
Matrix3	angularStiffness
	linear damping associated to the contact, used in the visco-elastic model
Matrix3	angularDamping
	angular stiffness associated to the contact, used in the visco-elastic model
bool	isSet
	angular damping associated to the contact, used in the visco-elastic model
bool	withRealSensor
Index	stateIndex
Index	stateIndexTangent
Public Attributes inherited from stateObservation::KineticsObserver::Sensor
Index	measIndex
Index	measIndexTangent
Index	size
TimeIndex	time

Static Public Attributes
static const Kinematics::Flags::Byte	contactKineFlags

Additional Inherited Members
Public Member Functions inherited from stateObservation::KineticsObserver::Sensor
	Sensor (Index signalSize)
Vector	extractFromVector (const Vector &v)

Detailed Description

Definition at line 1035 of file kinetics-observer.hpp.

Constructor & Destructor Documentation

Contact()

stateObservation::KineticsObserver::Contact::Contact ( )

inline

Definition at line 1037 of file kinetics-observer.hpp.

~Contact()

stateObservation::KineticsObserver::Contact::~Contact ( )

inline

Definition at line 1041 of file kinetics-observer.hpp.

Member Data Documentation

worldRestPose

Kinematics stateObservation::KineticsObserver::Contact::worldRestPose

State ///.

Definition at line 1044 of file kinetics-observer.hpp.

wrenchMeasurement

Vector6 stateObservation::KineticsObserver::Contact::wrenchMeasurement

Measurements ///.

Definition at line 1047 of file kinetics-observer.hpp.

userContactKine

Kinematics stateObservation::KineticsObserver::Contact::userContactKine

Describes the measured wrench (forces + torques) at the contact in the sensor's frame.

Input ///

Definition at line 1050 of file kinetics-observer.hpp.

centroidContactKine

Kinematics stateObservation::KineticsObserver::Contact::centroidContactKine

Describes the kinematics of the contact point in the centroid's frame.

Definition at line 1051 of file kinetics-observer.hpp.

sensorCovMatrix

CheckedMatrix6 stateObservation::KineticsObserver::Contact::sensorCovMatrix

Describes the kinematics of the contact point in the centroid's frame.

Definition at line 1052 of file kinetics-observer.hpp.

linearStiffness

Matrix3 stateObservation::KineticsObserver::Contact::linearStiffness

measurement covariance matrix of the wrench sensor attached to the contact.

Definition at line 1054 of file kinetics-observer.hpp.

linearDamping

Matrix3 stateObservation::KineticsObserver::Contact::linearDamping

linear stiffness associated to the contact, used in the visco-elastic model

Definition at line 1055 of file kinetics-observer.hpp.

angularStiffness

Matrix3 stateObservation::KineticsObserver::Contact::angularStiffness

linear damping associated to the contact, used in the visco-elastic model

Definition at line 1056 of file kinetics-observer.hpp.

angularDamping

Matrix3 stateObservation::KineticsObserver::Contact::angularDamping

angular stiffness associated to the contact, used in the visco-elastic model

Definition at line 1057 of file kinetics-observer.hpp.

isSet

bool stateObservation::KineticsObserver::Contact::isSet

angular damping associated to the contact, used in the visco-elastic model

Status ///

Definition at line 1061 of file kinetics-observer.hpp.

withRealSensor

bool stateObservation::KineticsObserver::Contact::withRealSensor

Definition at line 1062 of file kinetics-observer.hpp.

stateIndex

Index stateObservation::KineticsObserver::Contact::stateIndex

Definition at line 1063 of file kinetics-observer.hpp.

stateIndexTangent

Index stateObservation::KineticsObserver::Contact::stateIndexTangent

Definition at line 1064 of file kinetics-observer.hpp.

contactKineFlags

const Kinematics::Flags::Byte stateObservation::KineticsObserver::Contact::contactKineFlags

static

Initial value:

                                                  = 
Kinematics::Flags::position | Kinematics::Flags::orientation | Kinematics::Flags::linVel
| Kinematics::Flags::angVel

Definition at line 1066 of file kinetics-observer.hpp.

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The documentation for this struct was generated from the following file:

• /build/source/include/state-observation/dynamics-estimators/kinetics-observer.hpp