#include <mc_observers/BodySensorObserver.h>

Inheritance diagram for mc_observers::BodySensorObserver:

Collaboration diagram for mc_observers::BodySensorObserver:

Public Member Functions
	BodySensorObserver (const std::string &type, double dt)

void	configure (const mc_control::MCController &ctl, const mc_rtc::Configuration &) override

void	reset (const mc_control::MCController &ctl) override
	Resets the observer. More...

bool	run (const mc_control::MCController &ctl) override
	Determines the pose of the floating base. More...

void	update (mc_control::MCController &ctl) override
	Update the robot's floating base from its estimated pose. More...

const sva::PTransformd &	posW () const
	Get floating-base pose in the world frame. More...

const sva::MotionVecd &	velW () const
	Get floating-base velocity in the world frame. More...

Public Member Functions inherited from mc_observers::Observer
	Observer (const std::string &type, double dt)

virtual	~Observer ()=default

void	name (const std::string &name)
	Set the observer's name. More...

const std::string &	name () const noexcept
	Returns the observer's name. More...

void	addToLogger_ (const mc_control::MCController &ctl, mc_rtc::Logger &logger, const std::string &category="")
	Add observer entries to the logger under the categrory "category + name()". More...

void	removeFromLogger_ (mc_rtc::Logger &logger, const std::string &category="")
	Remove observer from logger. More...

void	addToGUI_ (const mc_control::MCController &ctl, mc_rtc::gui::StateBuilder &gui, std::vector< std::string > category={})
	Add observer to the gui under category {category, name()}. More...

void	removeFromGUI_ (mc_rtc::gui::StateBuilder &gui, std::vector< std::string > category={})
	Remove observer from gui. More...

const std::string &	desc () const noexcept
	Short description of the observer. More...

const std::string	type () const noexcept

const std::string &	error () const noexcept

double	dt () const noexcept

Protected Types
enum	Update { Update::Control, Update::Sensor }

Protected Member Functions
void	addToLogger (const mc_control::MCController &, mc_rtc::Logger &, const std::string &category) override
	Add observer from logger. More...

void	addToGUI (const mc_control::MCController &, mc_rtc::gui::StateBuilder &, const std::vector< std::string > &category) override
	Add observer information the GUI. More...

Protected Member Functions inherited from mc_observers::Observer
virtual void	removeFromLogger (mc_rtc::Logger &, const std::string &)
	Remove observer from logger. More...

virtual void	removeFromGUI (mc_rtc::gui::StateBuilder &, const std::vector< std::string > &category)
	Remove observer from GUI. More...

Protected Attributes
Update	updateFrom_ = Update::Sensor

std::string	fbSensorName_

sva::PTransformd	posW_ = sva::PTransformd::Identity()

sva::MotionVecd	velW_ = sva::MotionVecd::Zero()

sva::MotionVecd	accW_ = sva::MotionVecd::Zero()

std::string	robot_

std::string	updateRobot_

bool	updatePose_ = true

bool	updateVel_ = true

bool	logPos_ = true

bool	logVel_ = true

bool	logAcc_ = true

bool	guiPos_ = false

bool	guiVel_ = true

mc_rtc::gui::ArrowConfig	guiVelConfig_

bool	guiAcc_ = false

mc_rtc::gui::ArrowConfig	guiAccConfig_

bool	advancedGUI_ = false
	When true, displays an Advanced tab in the GUI. More...

Protected Attributes inherited from mc_observers::Observer
std::string	name_
	Observer name. More...

std::string	type_
	Observer type. More...

std::string	desc_
	Short description of the observer and its configuration. More...

std::string	error_
	Descriptive error message to show if the observer failed. More...

double	dt_
	Timestep. More...

Detailed Description

The BodySensorObserver is responsible for estimating the state of a robot's floating base from sensor measurements provided by a BodySensor and the kinematics beween this sensor and the floating base. It is assumed here that the floating base sensor kinematics estimate are synchronized.

See also: BodySensorObserver::run() for usage requirements

The default configuration estimates the floating base pose from the main bodysensor (typically an IMU).

Member Enumeration Documentation

◆ Update

enum mc_observers::BodySensorObserver::Update

strongprotected

Enumerator
Control	Use the control robot floating base state.
Sensor	Use the body sensor to determine the floating base pose.

Constructor & Destructor Documentation

◆ BodySensorObserver()

mc_observers::BodySensorObserver::BodySensorObserver	(	const std::string &	type,
		double	dt
	)

inline

Member Function Documentation

◆ addToGUI()

void mc_observers::BodySensorObserver::addToGUI	(	const mc_control::MCController &	,
		mc_rtc::gui::StateBuilder &	,
		const std::vector< std::string > &
	)

overrideprotectedvirtual

Add observer information the GUI.

Default implementation does nothing, each observer implementation is responsible for adding its own elements to the GUI.

Parameters

category Category in which to add this observer

Reimplemented from mc_observers::Observer.

◆ addToLogger()

void mc_observers::BodySensorObserver::addToLogger	(	const mc_control::MCController &	,
		mc_rtc::Logger &	,
		const std::string &
	)

overrideprotectedvirtual

Add observer from logger.

Default implementation does nothing, each observer implementation is responsible for adding its own log entries

Parameters

category Category in which to log this observer

Reimplemented from mc_observers::Observer.

◆ configure()

void mc_observers::BodySensorObserver::configure	(	const mc_control::MCController &	ctl,
		const mc_rtc::Configuration &
	)

overridevirtual

Configure observer

Reimplemented from mc_observers::Observer.

◆ posW()

const sva::PTransformd& mc_observers::BodySensorObserver::posW ( ) const

inline

Get floating-base pose in the world frame.

◆ reset()

void mc_observers::BodySensorObserver::reset ( const mc_control::MCController & ctl )

overridevirtual

Resets the observer.

Default implementation ensures that the BodySensor provided in the configuration exists and compute the initial floating base pose (calls run())

Parameters

ctl	The controller running this observer

Implements mc_observers::Observer.

◆ run()

bool mc_observers::BodySensorObserver::run ( const mc_control::MCController & ctl )

overridevirtual

Determines the pose of the floating base.

The pose of the floating base is determined depending on the update type chosen:

Update::Control: copies the floating base position from the control robot (no estimation)
Update::Sensor: Computes the position of the floating base from a BodySensor and the kinematic chain between it and the floating base. If the BodySensor is not directly attached to the floating base link, this estimator requires accurate estimation of the robot kinematics. A typical pipeline will achieve this by running the EncoderObserver observer before the BodySensorObserver.

It is assumed here that the floating base sensor and encoders are synchronized.

Parameters

ctl	The controller instance running this observer

Implements mc_observers::Observer.

◆ update()

void mc_observers::BodySensorObserver::update ( mc_control::MCController & ctl )

overridevirtual

Update the robot's floating base from its estimated pose.

See also: run for usage requirements

Note: Calls rbd::forwardKinematics and rbd::forwardVelocity

Implements mc_observers::Observer.

◆ velW()

const sva::MotionVecd& mc_observers::BodySensorObserver::velW ( ) const

inline

Get floating-base velocity in the world frame.

Member Data Documentation

◆ accW_

sva::MotionVecd mc_observers::BodySensorObserver::accW_ = sva::MotionVecd::Zero()

protected

◆ advancedGUI_

bool mc_observers::BodySensorObserver::advancedGUI_ = false

protected

When true, displays an Advanced tab in the GUI.

◆ fbSensorName_

std::string mc_observers::BodySensorObserver::fbSensorName_

protected

◆ guiAcc_

bool mc_observers::BodySensorObserver::guiAcc_ = false

protected

◆ guiAccConfig_

mc_rtc::gui::ArrowConfig mc_observers::BodySensorObserver::guiAccConfig_

protected

◆ guiPos_

bool mc_observers::BodySensorObserver::guiPos_ = false

protected

◆ guiVel_

bool mc_observers::BodySensorObserver::guiVel_ = true

protected

◆ guiVelConfig_

mc_rtc::gui::ArrowConfig mc_observers::BodySensorObserver::guiVelConfig_

protected

◆ logAcc_

bool mc_observers::BodySensorObserver::logAcc_ = true

protected

◆ logPos_

bool mc_observers::BodySensorObserver::logPos_ = true

protected

◆ logVel_

bool mc_observers::BodySensorObserver::logVel_ = true

protected

◆ posW_

sva::PTransformd mc_observers::BodySensorObserver::posW_ = sva::PTransformd::Identity()

protected

◆ robot_

std::string mc_observers::BodySensorObserver::robot_

protected

◆ updateFrom_

Update mc_observers::BodySensorObserver::updateFrom_ = Update::Sensor

protected

◆ updatePose_

bool mc_observers::BodySensorObserver::updatePose_ = true

protected

◆ updateRobot_

std::string mc_observers::BodySensorObserver::updateRobot_

protected

◆ updateVel_

bool mc_observers::BodySensorObserver::updateVel_ = true

protected

◆ velW_

sva::MotionVecd mc_observers::BodySensorObserver::velW_ = sva::MotionVecd::Zero()

protected

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

include/mc_observers/BodySensorObserver.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Update

Constructor & Destructor Documentation

◆ BodySensorObserver()

Member Function Documentation

◆ addToGUI()

◆ addToLogger()

◆ configure()

◆ posW()

◆ reset()

◆ run()

◆ update()

◆ velW()

Member Data Documentation

◆ accW_

◆ advancedGUI_

◆ fbSensorName_

◆ guiAcc_

◆ guiAccConfig_

◆ guiPos_

◆ guiVel_

◆ guiVelConfig_

◆ logAcc_

◆ logPos_

◆ logVel_

◆ posW_

◆ robot_

◆ updateFrom_

◆ updatePose_

◆ updateRobot_

◆ updateVel_

◆ velW_