State observation API. More...

#include <mc_observers/Observer.h>

Inheritance diagram for mc_observers::Observer:

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

virtual	~Observer ()=default

virtual void	configure (const mc_control::MCController &, const mc_rtc::Configuration &)
	Configure observer. More...

virtual void	reset (const mc_control::MCController &ctl)=0
	Reset estimator. More...

virtual bool	run (const mc_control::MCController &ctl)=0
	Compute observer state. More...

virtual void	update (mc_control::MCController &ctl)=0
	Update the real robot state from the observed state. More...

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

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
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

State observation API.

All new observers must inherit from this Observer class, and implement the required virtual functions (at least reset, run, updateRobots). The framework provides a mechanism to load state observation pipelines (see ObserverPipeline) consisting of multiple sequences of observers running sequentially, each estimating part of the robot state. In that case, observers are loaded by the framework from libraries, and must be exported using the EXPORT_OBSERVER_MODULE(NAME, TYPE) function defined in ObserverMacros.h

Each observer has access to the public members of its parent controller, and thus can access properties of the robots, sensors, datastore, logger, gui, and set its estimation results to the controller's realRobots instances.

Constructor & Destructor Documentation

◆ Observer()

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

inline

◆ ~Observer()

virtual mc_observers::Observer::~Observer ( )

virtualdefault

Member Function Documentation

◆ addToGUI()

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

inlineprotectedvirtual

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 in mc_observers::KinematicInertialPoseObserver, mc_observers::BodySensorObserver, and mc_observers::KinematicInertialObserver.

◆ addToGUI_()

void mc_observers::Observer::addToGUI_	(	const mc_control::MCController &	ctl,
		mc_rtc::gui::StateBuilder &	gui,
		std::vector< std::string >	category = `{}`
	)

inline

Add observer to the gui under category {category, name()}.

◆ addToLogger()

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

inlineprotectedvirtual

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 in mc_observers::KinematicInertialPoseObserver, mc_observers::KinematicInertialObserver, mc_observers::BodySensorObserver, and mc_observers::EncoderObserver.

◆ addToLogger_()

void mc_observers::Observer::addToLogger_	(	const mc_control::MCController &	ctl,
		mc_rtc::Logger &	logger,
		const std::string &	category = `""`
	)

inline

Add observer entries to the logger under the categrory "category + name()".

◆ configure()

virtual void mc_observers::Observer::configure	(	const mc_control::MCController &	,
		const mc_rtc::Configuration &
	)

inlinevirtual

Configure observer.

Parameters

config Configuration for this observer. Refer to the JSON Schema documentation fo each observer for details on supported entries: https://jrl-umi3218.github.io/mc_rtc/json.html#Observers-objects

Reimplemented in mc_observers::KinematicInertialPoseObserver, mc_observers::EncoderObserver, mc_observers::KinematicInertialObserver, and mc_observers::BodySensorObserver.

◆ desc()

const std::string& mc_observers::Observer::desc ( ) const

inlinenoexcept

Short description of the observer.

Used to display a short summary of the observers pipeline to the user, the description should be as short as possible while showing the important information about the observer.

The output might end up looking like: Encoders (Position+Velocity) -> KinematicInertial (cutoff=0.01) -> BodySensor

Returns: Short description of the observer.

◆ dt()

double mc_observers::Observer::dt ( ) const

inlinenoexcept

Controller timestep

◆ error()

const std::string& mc_observers::Observer::error ( ) const

inlinenoexcept

Informative message about the last error

◆ name() [1/2]

const std::string& mc_observers::Observer::name ( ) const

inlinenoexcept

Returns the observer's name.

◆ name() [2/2]

void mc_observers::Observer::name ( const std::string & name )

inline

Set the observer's name.

Parameters

name	Name of the observer

◆ removeFromGUI()

virtual void mc_observers::Observer::removeFromGUI	(	mc_rtc::gui::StateBuilder &	,
		const std::vector< std::string > &	category
	)

protectedvirtual

Remove observer from GUI.

Default implementation removes the category

Parameters

gui
category	Categroy in which the observer was added

◆ removeFromGUI_()

void mc_observers::Observer::removeFromGUI_	(	mc_rtc::gui::StateBuilder &	gui,
		std::vector< std::string >	category = `{}`
	)

inline

Remove observer from gui.

Default implementation removes category {category, name()}

◆ removeFromLogger()

virtual void mc_observers::Observer::removeFromLogger	(	mc_rtc::Logger &	,
		const std::string &
	)

protectedvirtual

Remove observer from logger.

The default implementation removes the entry that were registered by this

Parameters

category Category in which this observer entries are logged

◆ removeFromLogger_()

void mc_observers::Observer::removeFromLogger_	(	mc_rtc::Logger &	logger,
		const std::string &	category = `""`
	)

inline

Remove observer from logger.

◆ reset()

virtual void mc_observers::Observer::reset ( const mc_control::MCController & ctl )

pure virtual

Reset estimator.

The reset function should make sure that the observer is started in a state consistent with the current robot state.

This function is called after MCController::reset()

Implemented in mc_observers::KinematicInertialPoseObserver, mc_observers::EncoderObserver, mc_observers::BodySensorObserver, and mc_observers::KinematicInertialObserver.

◆ run()

virtual bool mc_observers::Observer::run ( const mc_control::MCController & ctl )

pure virtual

Compute observer state.

This function is called before MCController::run()

Implemented in mc_observers::KinematicInertialPoseObserver, mc_observers::BodySensorObserver, mc_observers::EncoderObserver, and mc_observers::KinematicInertialObserver.

◆ type()

const std::string mc_observers::Observer::type ( ) const

inlinenoexcept

◆ update()

virtual void mc_observers::Observer::update ( mc_control::MCController & ctl )

pure virtual

Update the real robot state from the observed state.

This function is expected to write the estimated parameters to the corresponding real robot instances ctl.realRobots(), and compute the necessary information to ensure a consistent state (e.g calling forward velocity after updating joint velocities, etc).

This function is called after Observer::run() if the observer is declared to update the real robot in the pipeline configuration.

Parameters

ctl	Controller running this observer

Implemented in mc_observers::KinematicInertialPoseObserver, mc_observers::BodySensorObserver, mc_observers::EncoderObserver, and mc_observers::KinematicInertialObserver.

Member Data Documentation

◆ desc_

std::string mc_observers::Observer::desc_

protected

Short description of the observer and its configuration.

◆ dt_

double mc_observers::Observer::dt_

protected

Timestep.

◆ error_

std::string mc_observers::Observer::error_

protected

Descriptive error message to show if the observer failed.

◆ name_

std::string mc_observers::Observer::name_

protected

Observer name.

◆ type_

std::string mc_observers::Observer::type_

protected

Observer type.

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

include/mc_observers/Observer.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Observer()

◆ ~Observer()

Member Function Documentation

◆ addToGUI()

◆ addToGUI_()

◆ addToLogger()

◆ addToLogger_()

◆ configure()

◆ desc()

◆ dt()

◆ error()

◆ name() [1/2]

◆ name() [2/2]

◆ removeFromGUI()

◆ removeFromGUI_()

◆ removeFromLogger()

◆ removeFromLogger_()

◆ reset()

◆ run()

◆ type()

◆ update()

Member Data Documentation

◆ desc_

◆ dt_

◆ error_

◆ name_

◆ type_