Defines the base class of online zero delay observers. Zero delay observers are the classical state observers where input and state values at instant k and the measurement value at instant k+1 are enough to provide the estimation of the state at instant k+1. This class mostly defines the data structures for storing the vectors, it describes the set routines and the observation loop mechanism. It requires to be derviated to implement the new oneStepEstimation_() method. More...

#include <state-observation/observer/zero-delay-observer.hpp>

Inheritance diagram for stateObservation::ZeroDelayObserver:

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Collaboration diagram for stateObservation::ZeroDelayObserver:

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Public Member Functions
	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	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.

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
virtual StateVector	oneStepEstimation_ ()=0

Protected Attributes
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

Defines the base class of online zero delay observers. Zero delay observers are the classical state observers where input and state values at instant k and the measurement value at instant k+1 are enough to provide the estimation of the state at instant k+1. This class mostly defines the data structures for storing the vectors, it describes the set routines and the observation loop mechanism. It requires to be derviated to implement the new oneStepEstimation_() method.

Constructor & Destructor Documentation

◆ ZeroDelayObserver() [1/2]

stateObservation::ZeroDelayObserver::ZeroDelayObserver	(	Index	n,
		Index	m,
		Index	p = `0`
	)

inline

The constructor

n : size of the state vector
m : size of the measurements vector
p : size of the input vector

◆ ZeroDelayObserver() [2/2]

stateObservation::ZeroDelayObserver::ZeroDelayObserver ( )

inline

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

◆ ~ZeroDelayObserver()

virtual stateObservation::ZeroDelayObserver::~ZeroDelayObserver ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ clearInputs()

virtual void stateObservation::ZeroDelayObserver::clearInputs ( )

virtual

Remove all the given values of the inputs If there is no input, this instruction has no effect

Implements stateObservation::ObserverBase.

◆ clearInputsAndMeasurements()

virtual void stateObservation::ZeroDelayObserver::clearInputsAndMeasurements ( )

virtual

Remove all the given values of the inputs and measurements.

Reimplemented from stateObservation::ObserverBase.

◆ clearMeasurements()

virtual void stateObservation::ZeroDelayObserver::clearMeasurements ( )

virtual

Remove all the given values of the measurements.

Implements stateObservation::ObserverBase.

◆ clearStates()

virtual void stateObservation::ZeroDelayObserver::clearStates ( )

virtual

Removes the state estimation.

inherited from ObserverBase

Implements stateObservation::ObserverBase.

Reimplemented in stateObservation::KalmanFilterBase.

◆ estimateState()

virtual TimeIndex stateObservation::ZeroDelayObserver::estimateState ( )

virtual

run the observer until the measurement vector is depleted.

the observer has to be able to reconstruct all the state values from the current time to the last measurement time. That means all the input values reauired have to be provided before.

Returns: the current time

◆ getCurrentEstimatedState()

virtual ObserverBase::StateVector stateObservation::ZeroDelayObserver::getCurrentEstimatedState ( ) const

virtual

Get the Current Estimated State.

Returns: ObserverBase::StateVector

◆ getCurrentTime()

virtual TimeIndex stateObservation::ZeroDelayObserver::getCurrentTime ( ) const

virtual

Get the value of the time index of the current state estimation.

◆ getEstimatedState()

virtual ObserverBase::StateVector stateObservation::ZeroDelayObserver::getEstimatedState ( TimeIndex k )

virtual

getestimated State

Parameters

k	The time index of the expected state value

Returns: ObserverBase::StateVector

If k is equal to the current time k_0, this will give the value of the last state/estimate.

If k is larger than the current time k_0, this will run the observer loop and get the state estimation of the state at instant k.

In order to estimate the state k, two conditions have to be met:

the time index k must be superior or equal to the current time k_0, the estimator does not record past values of the state and cannot observe past states.
the observer has to be able to reconstruct all the state values from k_0 to k. That means all the measurements or input values reauired have to be provided before.

That means generally (for most zero delay observers) that when current time is k_0 (we know an estimation of x_{k_0}) and we want to reconstruct the state at time k>k_0 we need to have the values of y_{k_0+1} to y_{k} and u_{k_0} to u_{k-1} (or u_{k} depending on the measure dynamics)

This method sets the current time to k

Implements stateObservation::ObserverBase.

◆ getInput()

Vector stateObservation::ZeroDelayObserver::getInput ( TimeIndex k ) const

Get the value of the input of the time index k.

◆ getInputsNumber()

virtual TimeSize stateObservation::ZeroDelayObserver::getInputsNumber ( ) const

virtual

Get the number of available inputs.

◆ getInputTime()

virtual TimeIndex stateObservation::ZeroDelayObserver::getInputTime ( ) const

virtual

Get the time index of the last given input.

◆ getMeasurement()

Vector stateObservation::ZeroDelayObserver::getMeasurement ( TimeIndex k ) const

Get the measurement of the time index k.

◆ getMeasurementsNumber()

virtual TimeSize stateObservation::ZeroDelayObserver::getMeasurementsNumber ( ) const

virtual

Gets the number of regitered measurements.

◆ getMeasurementTime()

virtual TimeIndex stateObservation::ZeroDelayObserver::getMeasurementTime ( ) const

virtual

Get the time index of the last given measurement.

◆ oneStepEstimation_()

virtual StateVector stateObservation::ZeroDelayObserver::oneStepEstimation_ ( )

protectedpure virtual

This method describes one loop of the observer (from k_0 to k_0+1) it has to be implemented in derived classes.

Implemented in stateObservation::KalmanFilterBase, and stateObservation::TiltEstimator.

◆ pushInput()

virtual void stateObservation::ZeroDelayObserver::pushInput ( const ObserverBase::InputVector & u_k )

virtual

Set the input value at the next time indext.

Parameters

u_k	Value of the next input

◆ pushMeasurement()

virtual void stateObservation::ZeroDelayObserver::pushMeasurement ( const ObserverBase::MeasureVector & y_k )

virtual

Sets the measurement value at the next time index.

Parameters

y_k	Value of the next measurement

◆ setCurrentState()

virtual void stateObservation::ZeroDelayObserver::setCurrentState ( const ObserverBase::StateVector & x_k )

virtual

Modify the value of the state vector at the current time.

Parameters

x_k	The new state value

This method should NOT be used for first initialization Use setState() instead.

Calling this function will not affect the measurements nor the input vectors. It will only replace the current state/estimate with a new one

◆ setInput()

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

virtual

Set the value of the input vector at time index k. The inputs have to be inserted in chronological order without gaps. If there is no input in the system (p==0), this instruction has no effect

Implements stateObservation::ObserverBase.

◆ setInputSize()

virtual void stateObservation::ZeroDelayObserver::setInputSize ( Index p )

virtual

changes the size of the input vector: reset the stored input vectors

Reimplemented from stateObservation::ObserverBase.

Reimplemented in stateObservation::LinearKalmanFilter.

◆ setMeasurement()

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

virtual

Set the value of the measurements vector at time index k. The measurements have to be inserted in chronological order without gaps.

Implements stateObservation::ObserverBase.

Reimplemented in stateObservation::TiltEstimator.

◆ setMeasureSize()

virtual void stateObservation::ZeroDelayObserver::setMeasureSize ( Index m )

virtual

changes the size of the measurement vector: reset the stored measurement vectors

Reimplemented from stateObservation::ObserverBase.

Reimplemented in stateObservation::KalmanFilterBase, and stateObservation::LinearKalmanFilter.

◆ setState()

virtual void stateObservation::ZeroDelayObserver::setState	(	const ObserverBase::StateVector &	x_k,
		TimeIndex	k
	)

virtual

Set the value of the state vector at time index k.

This replaces the current state estimate. If k < current time then the measurements and the inputs are also cleared. Otherwise only past measurements and inputs are removed.

Parameters

x_k
k

Implements stateObservation::ObserverBase.

◆ setStateSize()

virtual void stateObservation::ZeroDelayObserver::setStateSize ( Index n )

virtual

changes the size of the state vector: resets the stored state vector

Reimplemented from stateObservation::ObserverBase.

Reimplemented in stateObservation::KalmanFilterBase, and stateObservation::LinearKalmanFilter.

◆ stateIsSet()

bool stateObservation::ZeroDelayObserver::stateIsSet ( ) const

Returns if the state is set or not. The state being set is mandatory to start the estimator.

Returns: true is set; false is not set

Member Data Documentation

◆ u_

IndexedVectorArray stateObservation::ZeroDelayObserver::u_

protected

Container for the inputs.

◆ x_

IndexedVector stateObservation::ZeroDelayObserver::x_

protected

while the measurements and iputs are put in lists

The state estimation of the observer (only one state is recorded)

◆ y_

IndexedVectorArray stateObservation::ZeroDelayObserver::y_

protected

Container for the measurements.

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

include/state-observation/observer/zero-delay-observer.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ZeroDelayObserver() [1/2]

◆ ZeroDelayObserver() [2/2]

◆ ~ZeroDelayObserver()

Member Function Documentation

◆ clearInputs()

◆ clearInputsAndMeasurements()

◆ clearMeasurements()

◆ clearStates()

◆ estimateState()

◆ getCurrentEstimatedState()

◆ getCurrentTime()

◆ getEstimatedState()

◆ getInput()

◆ getInputsNumber()

◆ getInputTime()

◆ getMeasurement()

◆ getMeasurementsNumber()

◆ getMeasurementTime()

◆ oneStepEstimation_()

◆ pushInput()

◆ pushMeasurement()

◆ setCurrentState()

◆ setInput()

◆ setInputSize()

◆ setMeasurement()

◆ setMeasureSize()

◆ setState()

◆ setStateSize()

◆ stateIsSet()

Member Data Documentation

◆ u_

◆ x_

◆ y_