#include <mc_observers/EncoderObserver.h>

Inheritance diagram for mc_observers::EncoderObserver:

Collaboration diagram for mc_observers::EncoderObserver:

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

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

void	reset (const mc_control::MCController &ctl) override

bool	run (const mc_control::MCController &ctl) override
	Computes encoder velocity if necessary: More...

void	update (mc_control::MCController &ctl) override

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	PosUpdate { PosUpdate::Control, PosUpdate::EncoderValues, PosUpdate::None }

enum	VelUpdate { VelUpdate::Control, VelUpdate::EncoderVelocities, VelUpdate::EncoderFiniteDifferences, VelUpdate::None }

Protected Member Functions
void	addToLogger (const mc_control::MCController &, mc_rtc::Logger &, const std::string &) override
	Add observer from logger. 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	addToGUI (const mc_control::MCController &, mc_rtc::gui::StateBuilder &, const std::vector< std::string > &)
	Add observer information the GUI. More...

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

Protected Attributes
PosUpdate	posUpdate_ = PosUpdate::EncoderValues

VelUpdate	velUpdate_ = VelUpdate::EncoderFiniteDifferences

bool	computeFK_ = true
	Whether to compute forward kinematics. More...

bool	computeFV_ = true
	Whether to compute forward velocity. More...

bool	initialized_ = false
	True if the observer's memory has been initialized. More...

std::string	robot_ = ""
	Robot estimated by this observer. More...

std::string	updateRobot_ = ""
	Robot to update (defaults to robot_) More...

std::vector< double >	prevEncoders_
	Previous encoder values (for VelUpdate::EncoderFiniteDifferences) More...

std::vector< double >	encodersVelocity_
	Estimated encoder velocity. More...

bool	logPosition_ = false

bool	logVelocity_ = true

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

Estimator of floating base position and velocity

Position is directly obtained from sensor values Velocity is then computed by finite differences

The default behaviour is to update the real robot from the estimated position and velocity.

You can configure the estimator with the following JSON configuration

"Encoder":
{
  // Valid values are ["estimator", "control", "none"]
  "UpdatePosition": "estimator",
  // Valid values are ["estimator", "control", "none"]
  "UpdateVelocity": "estimator",
  "Log" : true
}

Member Enumeration Documentation

◆ PosUpdate

enum mc_observers::EncoderObserver::PosUpdate

strongprotected

Position update type

Enumerator
Control	Use joint value from robot.mbc.q (control)
EncoderValues	Encoder values from robot.encoderValues (encoder sensor)
None	Do not compute/update value.

◆ VelUpdate

enum mc_observers::EncoderObserver::VelUpdate

strongprotected

Velocity update type

Enumerator
Control	Use joint velocities from robot.mbc.alpha (control)
EncoderVelocities	Joint velocity from robot.encoderVelocities (encoder velocity sensor)
EncoderFiniteDifferences	Joint velocity from finite differences of robot.encoderValues (encoder sensor)
None	Do not compute/update value.

Constructor & Destructor Documentation

◆ EncoderObserver()

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

inline

Member Function Documentation

◆ addToLogger()

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

overridevirtual

Configure observer

Reimplemented from mc_observers::Observer.

◆ reset()

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

overridevirtual

Reset finite differences estimator from current encoder values and sets encoder velocity to zero

Exceptions

std::runtime_error if the robot does not have encoder values

Implements mc_observers::Observer.

◆ run()

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

overridevirtual

Computes encoder velocity if necessary:

If VelUpdate::EncoderFiniteDifferences, computes velocity from finite differences of encoder position

Implements mc_observers::Observer.

◆ update()

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

overridevirtual

Update the real robot from the estimator state according to the observer's results

See also: PosUpdate, VelUpdate for details on the method used for estimation

Implements mc_observers::Observer.

Member Data Documentation

◆ computeFK_

bool mc_observers::EncoderObserver::computeFK_ = true

protected

Whether to compute forward kinematics.

◆ computeFV_

bool mc_observers::EncoderObserver::computeFV_ = true

protected

Whether to compute forward velocity.

◆ encodersVelocity_

std::vector<double> mc_observers::EncoderObserver::encodersVelocity_

protected

Estimated encoder velocity.

◆ initialized_

bool mc_observers::EncoderObserver::initialized_ = false

protected

True if the observer's memory has been initialized.

◆ logPosition_

bool mc_observers::EncoderObserver::logPosition_ = false

protected

◆ logVelocity_

bool mc_observers::EncoderObserver::logVelocity_ = true

protected

◆ posUpdate_

PosUpdate mc_observers::EncoderObserver::posUpdate_ = PosUpdate::EncoderValues

protected

◆ prevEncoders_

std::vector<double> mc_observers::EncoderObserver::prevEncoders_

protected

Previous encoder values (for VelUpdate::EncoderFiniteDifferences)

◆ robot_

std::string mc_observers::EncoderObserver::robot_ = ""

protected

Robot estimated by this observer.

◆ updateRobot_

std::string mc_observers::EncoderObserver::updateRobot_ = ""

protected

Robot to update (defaults to robot_)

◆ velUpdate_

VelUpdate mc_observers::EncoderObserver::velUpdate_ = VelUpdate::EncoderFiniteDifferences

protected

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

include/mc_observers/EncoderObserver.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ PosUpdate

◆ VelUpdate

Constructor & Destructor Documentation

◆ EncoderObserver()

Member Function Documentation

◆ addToLogger()

◆ configure()

◆ reset()

◆ run()

◆ update()

Member Data Documentation

◆ computeFK_

◆ computeFV_

◆ encodersVelocity_

◆ initialized_

◆ logPosition_

◆ logVelocity_

◆ posUpdate_

◆ prevEncoders_

◆ robot_

◆ updateRobot_

◆ velUpdate_