Description is pending. More...

#include <state-observation/observer/tilt-estimator.hpp>

Inheritance diagram for stateObservation::TiltEstimator:

Collaboration diagram for stateObservation::TiltEstimator:

Public Member Functions
	TiltEstimator (double alpha, double beta, double gamma)

void	initEstimator (Vector3 x1=Vector3::Zero(), Vector3 x2_prime=Vector3::UnitZ(), Vector3 x2=Vector3::UnitZ())
	initializes the state vector. More...

void	setAlpha (const double alpha)
	set the gain of x1_hat variable More...

double	getAlpha () const

void	setBeta (const double beta)
	set the gain of x2prime_hat variable More...

double	getBeta () const

void	setGamma (const double gamma)
	set the gain of x2_hat variable More...

double	getGamma () const

void	setSamplingTime (const double dt)
	set the sampling time of the measurements More...

double	getSamplingTime () const

void	setMeasurement (const Vector3 &yv_k, const Vector3 &ya_k, const Vector3 &yg_k, TimeIndex k)
	sets ths measurement (accelero and gyro stacked in one vector) More...

Public Member Functions inherited from stateObservation::ZeroDelayObserver
	ZeroDelayObserver (Index n, Index m, Index p=0)

	ZeroDelayObserver ()
	Default constructor (default values for n,m,p are zero) More...

virtual	~ZeroDelayObserver ()
	Destructor. More...

virtual void	setState (const ObserverBase::StateVector &x_k, TimeIndex k)
	Set the value of the state vector at time index k. More...

virtual void	setCurrentState (const ObserverBase::StateVector &x_k)
	Modify the value of the state vector at the current time. More...

virtual void	clearStates ()
	Removes the state estimation. More...

bool	stateIsSet () const
	Returns if the state is set or not. The state being set is mandatory to start the estimator. More...

virtual void	setMeasurement (const ObserverBase::MeasureVector &y_k, TimeIndex k)

virtual void	pushMeasurement (const ObserverBase::MeasureVector &y_k)
	Sets the measurement value at the next time index. More...

virtual void	clearMeasurements ()
	Remove all the given values of the measurements. More...

virtual void	setInput (const ObserverBase::InputVector &u_k, TimeIndex k)

virtual void	pushInput (const ObserverBase::InputVector &u_k)
	Set the input value at the next time indext. More...

virtual void	clearInputs ()

virtual void	clearInputsAndMeasurements ()
	Remove all the given values of the inputs and measurements. More...

virtual TimeIndex	estimateState ()
	run the observer until the measurement vector is depleted. More...

virtual ObserverBase::StateVector	getEstimatedState (TimeIndex k)
	getestimated State More...

virtual ObserverBase::StateVector	getCurrentEstimatedState () const
	Get the Current Estimated State. More...

virtual TimeIndex	getCurrentTime () const
	Get the value of the time index of the current state estimation. More...

Vector	getInput (TimeIndex k) const
	Get the value of the input of the time index k. More...

virtual TimeSize	getInputsNumber () const
	Get the number of available inputs. More...

virtual TimeIndex	getInputTime () const
	Get the time index of the last given input. More...

Vector	getMeasurement (TimeIndex k) const
	Get the measurement of the time index k. More...

virtual TimeIndex	getMeasurementTime () const
	Get the time index of the last given measurement. More...

virtual TimeSize	getMeasurementsNumber () const
	Gets the number of regitered measurements. More...

virtual void	setStateSize (Index n)
	changes the size of the state vector: resets the stored state vector More...

virtual void	setMeasureSize (Index m)
	changes the size of the measurement vector: reset the stored measurement vectors More...

virtual void	setInputSize (Index p)
	changes the size of the input vector: reset the stored input vectors More...

Public Member Functions inherited from stateObservation::ObserverBase
	ObserverBase (Index n, Index m, Index p=0)

	ObserverBase ()
	default constructor (default values for n,m,p are zero) More...

virtual	~ObserverBase ()
	Destructor. More...

virtual Index	getStateSize () const
	gets the size of the state vector More...

virtual Index	getMeasureSize () const
	gets the size of the measurement vector More...

virtual Index	getInputSize () const
	gets the size of the input vector More...

virtual void	reset ()

virtual StateVector	stateVectorConstant (double c) const

virtual StateVector	stateVectorRandom () const
	Gives a vector of state vector size having random values. More...

virtual StateVector	stateVectorZero () const
	Gives a vector of state vector size having zero values. More...

virtual bool	checkStateVector (const StateVector &v) const
	Tells whether or not the vector has the dimensions of a state vector. More...

virtual MeasureVector	measureVectorConstant (double c) const
	Gives a vector of measurement vector size having duplicated "c" value. More...

virtual MeasureVector	measureVectorRandom () const
	Gives a vector of measurement vector size having random values. More...

virtual MeasureVector	measureVectorZero () const
	Gives a vector of measurement vector size having zero values. More...

virtual bool	checkMeasureVector (const MeasureVector &) const
	Tells whether or not the vector has the dimensions of a measurement vector. More...

virtual InputVector	inputVectorConstant (double c) const
	Gives a vector of input vector size having duplicated "c" value. More...

virtual InputVector	inputVectorRandom () const
	Gives a vector of input vector size having random values. More...

virtual InputVector	inputVectorZero () const
	Gives a vector of input vector size having zero values. More...

virtual bool	checkInputVector (const InputVector &) const
	Tells whether or not the vector has the dimensions of a input vector. More...

Protected Member Functions
StateVector	oneStepEstimation_ ()
	The tilt estimator loop. More...

Protected Attributes
double	alpha_
	The parameters of the estimator. More...

double	beta_

double	gamma_

double	dt_
	Sampling time. More...

Vector3	x1_
	variables used for the computation More...

Vector3	x1_hat_

Vector3	x2_hat_prime_

Vector3	x2_hat_

Vector3	dx1_hat

Protected Attributes inherited from stateObservation::ZeroDelayObserver
IndexedVector	x_
	while the measurements and iputs are put in lists More...

IndexedVectorArray	y_
	Container for the measurements. More...

IndexedVectorArray	u_
	Container for the inputs. More...

Protected Attributes inherited from stateObservation::ObserverBase
Index	n_
	stateSize is the size of the state vector More...

Index	m_
	measureSize is the size of measurements vector More...

Index	p_
	inputSize is the size of the input vector More...

Additional Inherited Members
Public Types inherited from stateObservation::ObserverBase
typedef Vector	StateVector
	StateVector is the type of state vector. More...

typedef Vector	MeasureVector
	MeasureVector is the type of measurements vector. More...

typedef Vector	InputVector
	InputVector is the type of the input vector. More...

Detailed Description

Description is pending.

use getEstimatedState to obtain the state vector the tilt R.transpose()*e_z is constituted with the last three components of the state vector.

This estimator is based on the work detailed in: Benallegue, Mehdi, et al. "Lyapunov-stable orientation estimator for humanoid robots." IEEE Robotics and Automation Letters 5.4 (2020): 6371-637

Constructor & Destructor Documentation

◆ TiltEstimator()

stateObservation::TiltEstimator::TiltEstimator	(	double	alpha,
		double	beta,
		double	gamma
	)

The constructor

alpha : parameter related to the convergence of the linear velocity of the IMU expressed in the control frame
beta : parameter related to the fast convergence of the tilt
gamma : parameter related to the orthogonality

Member Function Documentation

◆ getAlpha()

double stateObservation::TiltEstimator::getAlpha ( ) const

inline

◆ getBeta()

double stateObservation::TiltEstimator::getBeta ( ) const

inline

◆ getGamma()

double stateObservation::TiltEstimator::getGamma ( ) const

inline

◆ getSamplingTime()

double stateObservation::TiltEstimator::getSamplingTime ( ) const

inline

◆ initEstimator()

void stateObservation::TiltEstimator::initEstimator	(	Vector3	x1 = `Vector3::Zero()`,
		Vector3	x2_prime = `Vector3::UnitZ()`,
		Vector3	x2 = `Vector3::UnitZ()`
	)

initializes the state vector.

Parameters

x1	The initial local linear velocity of the IMU.
x2_p	The initial value of the intermediate estimate of the IMU's tilt.
x2	The initial tilt of the IMU.

◆ oneStepEstimation_()

StateVector stateObservation::TiltEstimator::oneStepEstimation_ ( )

protectedvirtual

The tilt estimator loop.

Implements stateObservation::ZeroDelayObserver.

◆ setAlpha()

void stateObservation::TiltEstimator::setAlpha ( const double alpha )

inline

set the gain of x1_hat variable

◆ setBeta()

void stateObservation::TiltEstimator::setBeta ( const double beta )

inline

set the gain of x2prime_hat variable

◆ setGamma()

void stateObservation::TiltEstimator::setGamma ( const double gamma )

inline

set the gain of x2_hat variable

◆ setMeasurement()

void stateObservation::TiltEstimator::setMeasurement	(	const Vector3 &	yv_k,
		const Vector3 &	ya_k,
		const Vector3 &	yg_k,
		TimeIndex	k
	)

sets ths measurement (accelero and gyro stacked in one vector)

◆ setSamplingTime()

void stateObservation::TiltEstimator::setSamplingTime ( const double dt )

inline

set the sampling time of the measurements

Member Data Documentation

◆ alpha_

double stateObservation::TiltEstimator::alpha_

protected

The parameters of the estimator.

◆ beta_

double stateObservation::TiltEstimator::beta_

protected

◆ dt_

double stateObservation::TiltEstimator::dt_

protected

Sampling time.

◆ dx1_hat

Vector3 stateObservation::TiltEstimator::dx1_hat

protected

◆ gamma_

double stateObservation::TiltEstimator::gamma_

protected

◆ x1_

Vector3 stateObservation::TiltEstimator::x1_

protected

variables used for the computation

◆ x1_hat_

Vector3 stateObservation::TiltEstimator::x1_hat_

protected

◆ x2_hat_

Vector3 stateObservation::TiltEstimator::x2_hat_

protected

◆ x2_hat_prime_

Vector3 stateObservation::TiltEstimator::x2_hat_prime_

protected

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

include/state-observation/observer/tilt-estimator.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TiltEstimator()

Member Function Documentation

◆ getAlpha()

◆ getBeta()

◆ getGamma()

◆ getSamplingTime()

◆ initEstimator()

◆ oneStepEstimation_()

◆ setAlpha()

◆ setBeta()

◆ setGamma()

◆ setMeasurement()

◆ setSamplingTime()

Member Data Documentation

◆ alpha_

◆ beta_

◆ dt_

◆ dx1_hat

◆ gamma_

◆ x1_

◆ x1_hat_

◆ x2_hat_

◆ x2_hat_prime_