Go to the documentation of this file.
12 #ifndef TILTESTIMATORHPP
13 #define TILTESTIMATORHPP
15 #include <state-observation/api.h>
49 void initEstimator(
Vector3 x1 = Vector3::Zero(),
Vector3 x2_prime = Vector3::UnitZ(),
Vector3 x2 = Vector3::UnitZ());
94 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
116 #endif // TILTESTIMATORHPP
void setSamplingTime(const double dt)
set the sampling time of the measurements
Definition: tilt-estimator.hpp:82
double getAlpha() const
Definition: tilt-estimator.hpp:56
Vector3 x1_hat_
Definition: tilt-estimator.hpp:105
double getBeta() const
Definition: tilt-estimator.hpp:66
Vector StateVector
StateVector is the type of state vector.
Definition: observer-base.hpp:42
void setGamma(const double gamma)
set the gain of x2_hat variable
Definition: tilt-estimator.hpp:72
Vector3 x2_hat_prime_
Definition: tilt-estimator.hpp:106
Vector3 x2_hat_
Definition: tilt-estimator.hpp:107
double gamma_
Definition: tilt-estimator.hpp:98
long int TimeIndex
Definition: definitions.hpp:139
double getGamma() const
Definition: tilt-estimator.hpp:76
void setAlpha(const double alpha)
set the gain of x1_hat variable
Definition: tilt-estimator.hpp:52
double dt_
Sampling time.
Definition: tilt-estimator.hpp:101
Vector3 x1_
variables used for the computation
Definition: tilt-estimator.hpp:104
Vector3 dx1_hat
Definition: tilt-estimator.hpp:108
Defines the base class of online zero delay observers. Zero delay observers are the classical state o...
Eigen::Vector3d Vector3
3D vector
Definition: definitions.hpp:85
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
Defines the base class of online zero delay observers. Zero delay observers are the classical state o...
Definition: zero-delay-observer.hpp:43
double getSamplingTime() const
Definition: tilt-estimator.hpp:86
void setBeta(const double beta)
set the gain of x2prime_hat variable
Definition: tilt-estimator.hpp:62
Description is pending.
Definition: tilt-estimator.hpp:35