Version of the Tilt Estimator for humanoid robots. More...

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

Inheritance diagram for stateObservation::TiltEstimatorHumanoid:

Collaboration diagram for stateObservation::TiltEstimatorHumanoid:

Public Member Functions
	TiltEstimatorHumanoid (double alpha, double beta, double gamma, double dt)

void	setSensorPositionInC (const Vector3 &p)
	sets the position of the IMU sensor in the control frame

Vector3	getSensorPositionInC ()

void	setSensorOrientationInC (const Matrix3 &R)
	sets the oriantation of the IMU sensor in the control frame

Matrix3	getSensorOrientationInC ()

Vector3	getVirtualLocalVelocityMeasurement ()

void	setSensorLinearVelocityInC (const Vector3 &v)
	sets teh linear velocity of the IMU sensor in the control frame

Vector3	getSensorLinearVelocityInC ()

void	setSensorAngularVelocityInC (const Vector3 &w)
	sets the angular velocity of the IMU sensor in the control frame

Vector3	getSensorAngularVelocityInC ()

void	setControlOriginVelocityInW (const Vector3 &v)

Vector3	getControlOriginVelocityInW ()

void	resetImuLocVelHat ()
	informs the estimator that x1hat (the estimate of the local linear velocity of the IMU in the world) needs to be reset.

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

void	setMeasurement (const Vector3 &yv_k, const Vector3 &ya_k, const Vector3 &yg_k, TimeIndex k)
	prevent c++ overloaded virtual function warning

Public Member Functions inherited from stateObservation::TiltEstimator
	TiltEstimator (double alpha, double beta, double gamma, double dt)

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

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

double	getAlpha () const

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

double	getBeta () const

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

double	getGamma () const

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

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)

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

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)

virtual	~ZeroDelayObserver ()
	Destructor.

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

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

virtual void	clearStates ()
	Removes the state estimation.

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

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

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

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.

virtual void	clearInputs ()

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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)

virtual	~ObserverBase ()
	Destructor.

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

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

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

virtual void	reset ()

virtual StateVector	stateVectorConstant (double c) const

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

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

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

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

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

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

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

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

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

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

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

Protected Member Functions
void	checkResetX1hat ()
	Checks if x1hat needs to be reset and if yes, resets it with the current value of x1.

Protected Member Functions inherited from stateObservation::TiltEstimator
StateVector	oneStepEstimation_ ()
	The tilt estimator loop.

Protected Attributes
Vector3	p_S_C_
	Position of the IMU in the control frame.

Matrix3	R_S_C_
	Orientation of the IMU in the control frame.

Vector3	v_S_C_
	Linear velocity of the IMU in the control frame.

Vector3	w_S_C_
	Angular velocity of the IMU in the control frame.

Vector3	v_C_
	Linear velocity of the control frame.

bool	resetX1hat_ = false
	indicates that x1hat needs to be reset

Protected Attributes inherited from stateObservation::TiltEstimator
double	alpha_
	The parameters of the estimator.

double	beta_

double	gamma_

double	dt_
	Sampling time.

Vector3	x1_
	variables used for the computation

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

IndexedVectorArray	y_
	Container for the measurements.

IndexedVectorArray	u_
	Container for the inputs.

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

Index	m_
	measureSize is the size of measurements vector

Index	p_
	inputSize is the size of the input vector

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

typedef Vector	MeasureVector
	MeasureVector is the type of measurements vector.

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

Detailed Description

Version of the Tilt Estimator for humanoid robots.

Constructor & Destructor Documentation

◆ TiltEstimatorHumanoid()

stateObservation::TiltEstimatorHumanoid::TiltEstimatorHumanoid	(	double	alpha,
		double	beta,
		double	gamma,
		double	dt
	)

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
dt : sampling time

Member Function Documentation

◆ checkResetX1hat()

void stateObservation::TiltEstimatorHumanoid::checkResetX1hat ( )

protected

Checks if x1hat needs to be reset and if yes, resets it with the current value of x1.

x1hat needs to be reset when the mode of computation of the anchor frame changed, to avoid discontinuities.

◆ getControlOriginVelocityInW()

Vector3 stateObservation::TiltEstimatorHumanoid::getControlOriginVelocityInW ( )

inline

◆ getSensorAngularVelocityInC()

Vector3 stateObservation::TiltEstimatorHumanoid::getSensorAngularVelocityInC ( )

inline

◆ getSensorLinearVelocityInC()

Vector3 stateObservation::TiltEstimatorHumanoid::getSensorLinearVelocityInC ( )

inline

◆ getSensorOrientationInC()

Matrix3 stateObservation::TiltEstimatorHumanoid::getSensorOrientationInC ( )

inline

◆ getSensorPositionInC()

Vector3 stateObservation::TiltEstimatorHumanoid::getSensorPositionInC ( )

inline

◆ getVirtualLocalVelocityMeasurement()

Vector3 stateObservation::TiltEstimatorHumanoid::getVirtualLocalVelocityMeasurement ( )

inline

◆ resetImuLocVelHat()

void stateObservation::TiltEstimatorHumanoid::resetImuLocVelHat ( )

informs the estimator that x1hat (the estimate of the local linear velocity of the IMU in the world) needs to be reset.

x1hat needs to be reset when the mode of computation of the anchor frame changed, to avoid discontinuities.

◆ setControlOriginVelocityInW()

void stateObservation::TiltEstimatorHumanoid::setControlOriginVelocityInW ( const Vector3 & v )

inline

sets the velocity of the control origin in the world frame this velocity has to be expressed in the control frame.

◆ setMeasurement() [1/2]

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

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

◆ setMeasurement() [2/2]

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

prevent c++ overloaded virtual function warning

◆ setSensorAngularVelocityInC()

void stateObservation::TiltEstimatorHumanoid::setSensorAngularVelocityInC ( const Vector3 & w )

inline

sets the angular velocity of the IMU sensor in the control frame

◆ setSensorLinearVelocityInC()

void stateObservation::TiltEstimatorHumanoid::setSensorLinearVelocityInC ( const Vector3 & v )

inline

sets teh linear velocity of the IMU sensor in the control frame

◆ setSensorOrientationInC()

void stateObservation::TiltEstimatorHumanoid::setSensorOrientationInC ( const Matrix3 & R )

inline

sets the oriantation of the IMU sensor in the control frame

◆ setSensorPositionInC()

void stateObservation::TiltEstimatorHumanoid::setSensorPositionInC ( const Vector3 & p )

inline

sets the position of the IMU sensor in the control frame

Member Data Documentation

◆ p_S_C_

Vector3 stateObservation::TiltEstimatorHumanoid::p_S_C_

protected

Position of the IMU in the control frame.

◆ R_S_C_

Matrix3 stateObservation::TiltEstimatorHumanoid::R_S_C_

protected

Orientation of the IMU in the control frame.

◆ resetX1hat_

bool stateObservation::TiltEstimatorHumanoid::resetX1hat_ = false

protected

indicates that x1hat needs to be reset

◆ v_C_

Vector3 stateObservation::TiltEstimatorHumanoid::v_C_

protected

Linear velocity of the control frame.

◆ v_S_C_

Vector3 stateObservation::TiltEstimatorHumanoid::v_S_C_

protected

Linear velocity of the IMU in the control frame.

◆ w_S_C_

Vector3 stateObservation::TiltEstimatorHumanoid::w_S_C_

protected

Angular velocity of the IMU in the control frame.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TiltEstimatorHumanoid()

Member Function Documentation

◆ checkResetX1hat()

◆ getControlOriginVelocityInW()

◆ getSensorAngularVelocityInC()

◆ getSensorLinearVelocityInC()

◆ getSensorOrientationInC()

◆ getSensorPositionInC()

◆ getVirtualLocalVelocityMeasurement()

◆ resetImuLocVelHat()

◆ setControlOriginVelocityInW()

◆ setMeasurement() [1/2]

◆ setMeasurement() [2/2]

◆ setSensorAngularVelocityInC()

◆ setSensorLinearVelocityInC()

◆ setSensorOrientationInC()

◆ setSensorPositionInC()

Member Data Documentation

◆ p_S_C_

◆ R_S_C_

◆ resetX1hat_

◆ v_C_

◆ v_S_C_

◆ w_S_C_