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13 #ifndef TILTESTIMATORHUMANOIDHPP
14 #define TILTESTIMATORHUMANOIDHPP
16 #include <state-observation/api.h>
99 void resetImuLocVelHat();
102 #if defined(__clang__)
103 # pragma clang diagnostic push
104 # pragma clang diagnostic ignored "-Woverloaded-virtual"
106 # if defined(__GNUC__)
107 # pragma GCC diagnostic push
108 # pragma GCC diagnostic ignored "-Woverloaded-virtual"
117 #if defined(__clang__)
118 # pragma clang diagnostic pop
120 # if defined(__GNUC__)
121 # pragma GCC diagnostic pop
143 bool resetX1hat_ =
false;
148 void checkResetX1hat();
153 #endif // TILTESTIMATORHUMANOIDHPP
void setSensorLinearVelocityInC(const Vector3 &v)
sets teh linear velocity of the IMU sensor in the control frame
Definition: tilt-estimator-humanoid.hpp:65
Vector3 p_S_C_
Position of the IMU in the control frame.
Definition: tilt-estimator-humanoid.hpp:128
Vector3 w_S_C_
Angular velocity of the IMU in the control frame.
Definition: tilt-estimator-humanoid.hpp:137
Vector3 v_C_
Linear velocity of the control frame.
Definition: tilt-estimator-humanoid.hpp:140
void setSensorPositionInC(const Vector3 &p)
sets the position of the IMU sensor in the control frame
Definition: tilt-estimator-humanoid.hpp:39
Vector3 v_S_C_
Linear velocity of the IMU in the control frame.
Definition: tilt-estimator-humanoid.hpp:134
void setMeasurement(const Vector3 &yv_k, const Vector3 &ya_k, const Vector3 &yg_k, TimeIndex k)
sets ths measurement (accelero and gyro stacked in one vector)
Vector3 getSensorPositionInC()
Definition: tilt-estimator-humanoid.hpp:44
long int TimeIndex
Definition: definitions.hpp:139
void setSensorAngularVelocityInC(const Vector3 &w)
sets the angular velocity of the IMU sensor in the control frame
Definition: tilt-estimator-humanoid.hpp:76
Vector3 getSensorAngularVelocityInC()
Definition: tilt-estimator-humanoid.hpp:80
Eigen::Matrix3d Matrix3
3x3 Scalar Matrix
Definition: definitions.hpp:109
Vector3 getControlOriginVelocityInW()
Definition: tilt-estimator-humanoid.hpp:91
Vector3 getVirtualLocalVelocityMeasurement()
Definition: tilt-estimator-humanoid.hpp:59
void setControlOriginVelocityInW(const Vector3 &v)
Definition: tilt-estimator-humanoid.hpp:87
void setSensorOrientationInC(const Matrix3 &R)
sets the oriantation of the IMU sensor in the control frame
Definition: tilt-estimator-humanoid.hpp:50
Defines the base class of online zero delay observers. Zero delay observers are the classical state o...
Version of the Tilt Estimator that implements all the necessary functions to perform the estimation f...
Eigen::Vector3d Vector3
3D vector
Definition: definitions.hpp:85
Matrix3 R_S_C_
Orientation of the IMU in the control frame.
Definition: tilt-estimator-humanoid.hpp:131
Matrix3 getSensorOrientationInC()
Definition: tilt-estimator-humanoid.hpp:54
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
Version of the Tilt Estimator for humanoid robots.
Definition: tilt-estimator-humanoid.hpp:28
Vector3 getSensorLinearVelocityInC()
Definition: tilt-estimator-humanoid.hpp:70
Description is pending.
Definition: tilt-estimator.hpp:35