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16 #ifndef ZERODELAYOBSERVER_H
17 #define ZERODELAYOBSERVER_H
21 #include <state-observation/api.h>
80 virtual void clearStates();
86 bool stateIsSet()
const;
98 virtual void clearMeasurements();
112 virtual void clearInputs();
116 virtual void clearInputsAndMeasurements();
157 virtual TimeIndex getCurrentTime()
const;
163 virtual TimeSize getInputsNumber()
const;
172 virtual TimeIndex getMeasurementTime()
const;
175 virtual TimeSize getMeasurementsNumber()
const;
178 virtual void setStateSize(
Index n);
181 virtual void setMeasureSize(
Index m);
184 virtual void setInputSize(
Index p);
189 virtual StateVector oneStepEstimation_() = 0;
203 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
208 #endif // ZERODELAYOBSERVER
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
IndexedVectorArray u_
Container for the inputs.
Definition: zero-delay-observer.hpp:200
Vector StateVector
StateVector is the type of state vector.
Definition: observer-base.hpp:42
IndexedVector x_
while the measurements and iputs are put in lists
Definition: zero-delay-observer.hpp:194
IndexedVectorArray y_
Container for the measurements.
Definition: zero-delay-observer.hpp:197
Defines the base class of a state observer. The observer is destinated to any dynamical system with a...
Index TimeSize
Definition: definitions.hpp:140
virtual ~ZeroDelayObserver()
Destructor.
Definition: zero-delay-observer.hpp:56
The base class for observers. The observer is destinated to any dynamical system with a vector state ...
Definition: observer-base.hpp:38
Vector MeasureVector
MeasureVector is the type of measurements vector.
Definition: observer-base.hpp:45
long int TimeIndex
Definition: definitions.hpp:139
ZeroDelayObserver()
Default constructor (default values for n,m,p are zero)
Definition: zero-delay-observer.hpp:53
constexpr double m
mass of the robot
Definition: hrp2.hpp:36
Eigen::Index Index
Definition: definitions.hpp:138
Vector InputVector
InputVector is the type of the input vector.
Definition: observer-base.hpp:48
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
ZeroDelayObserver(Index n, Index m, Index p=0)
Definition: zero-delay-observer.hpp:50