This class is the base class of the flexibility estimators that use an extended Kalman Filter. Several methods require to be overloaded to derive an implementation from this base class. More...

#include <state-observation/flexibility-estimation/ekf-flexibility-estimator-base.hpp>

Inheritance diagram for stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase:

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Collaboration diagram for stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase:

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Public Member Functions
	EKFFlexibilityEstimatorBase (Index stateSize, Index measurementSize, Index inputSize, const Vector &dx=Vector::Zero(0))

virtual	~EKFFlexibilityEstimatorBase ()
	virtual destructor

virtual void	setFlexibilityGuess (const Matrix &)=0

virtual void	setFlexibilityCovariance (const Matrix &P)
	Sets the covariance matrix of the flexibility Guess.

virtual Matrix	getFlexibilityCovariance () const
	Gets the covariance matrix of the flexibility.

virtual void	setProcessNoiseCovariance (const Matrix &Q)

virtual void	setMeasurementNoiseCovariance (const Matrix &R)

virtual Matrix	getProcessNoiseCovariance () const
	gets the covariance matrices for the process noises

virtual Matrix	getMeasurementNoiseCovariance () const
	gets the covariance matrices for the sensor noises

virtual void	setMeasurement (const Vector &y)
	Sets the value of the next sensor measurement y_{k+1}.

virtual Vector	getMeasurement ()

virtual void	setInput (const Vector &u)

virtual void	setMeasurementInput (const Vector &u)

virtual Vector	getInput ()

virtual Vector	getMeasurementInput ()

virtual const Vector &	getFlexibilityVector ()
	Gets an estimation of the flexibility in the form of a state vector \hat{x_{k+1}}.

virtual Matrix4	getFlexibility ()=0
	Gets an estimation of the flexibility in the form of a homogeneous matrix.

virtual const stateObservation::ExtendedKalmanFilter &	getEKF () const
	Gets a const reference on the extended Kalman filter.

virtual stateObservation::ExtendedKalmanFilter &	getEKF ()
	Gets a reference on the extended Kalman filter.

virtual Index	getStateSize () const =0

virtual Index	getMeasurementSize () const =0

virtual Index	getInputSize () const =0

virtual Vector	getSimulatedMeasurement ()
	Gets a simulation of the.

virtual void	resetCovarianceMatrices ()=0
	Resets the covariance matrices to their original values.

virtual Vector	getInnovation ()
	Get the last vector of inovation of the Kalman filter.

virtual Vector	getPredictedMeasurement ()
	Get the simulated measurement of the predicted state.

virtual Vector	getPrediction ()
	Get the predicted state.

virtual Vector	getLastPredictedMeasurement ()
	Get the last simulated measurement.

virtual Vector	getLastPrediction ()
	Get the last predicted state.

Public Member Functions inherited from stateObservation::flexibilityEstimation::FlexibilityEstimatorBase
virtual	~FlexibilityEstimatorBase ()
	virtual destructor

	FlexibilityEstimatorBase ()
	The constructor.

Protected Member Functions
virtual void	setJacobians (const Matrix &A, const Matrix &C)

virtual void	useFiniteDifferencesJacobians (Vector dx)

Protected Attributes
stateObservation::ExtendedKalmanFilter	ekf_

bool	finiteDifferencesJacobians_

Vector	dx_

Vector	lastX_

TimeIndex	k_

Detailed Description

This class is the base class of the flexibility estimators that use an extended Kalman Filter. Several methods require to be overloaded to derive an implementation from this base class.

Constructor & Destructor Documentation

◆ EKFFlexibilityEstimatorBase()

stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::EKFFlexibilityEstimatorBase	(	Index	stateSize,
		Index	measurementSize,
		Index	inputSize,
		const Vector &	dx = `Vector::Zero(0)`
	)

The constructor.

stateSize : size of the state vector
measurementSize : size of the measurements vector
inputSize : size of the input vector
dx gives the derivation step for a finite differences derivation method

◆ ~EKFFlexibilityEstimatorBase()

virtual stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::~EKFFlexibilityEstimatorBase ( )

virtual

virtual destructor

Member Function Documentation

◆ getEKF() [1/2]

virtual stateObservation::ExtendedKalmanFilter & stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getEKF ( )

virtual

Gets a reference on the extended Kalman filter.

◆ getEKF() [2/2]

virtual const stateObservation::ExtendedKalmanFilter & stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getEKF ( ) const

virtual

Gets a const reference on the extended Kalman filter.

◆ getFlexibility()

virtual Matrix4 stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getFlexibility ( )

pure virtual

Gets an estimation of the flexibility in the form of a homogeneous matrix.

Implements stateObservation::flexibilityEstimation::FlexibilityEstimatorBase.

Implemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ getFlexibilityCovariance()

virtual Matrix stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getFlexibilityCovariance ( ) const

virtual

Gets the covariance matrix of the flexibility.

◆ getFlexibilityVector()

virtual const Vector & stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getFlexibilityVector ( )

virtual

Gets an estimation of the flexibility in the form of a state vector \hat{x_{k+1}}.

Reimplemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ getInnovation()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getInnovation ( )

virtual

Get the last vector of inovation of the Kalman filter.

◆ getInput()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getInput ( )

virtual

◆ getInputSize()

virtual Index stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getInputSize ( ) const

pure virtual

Gets the input size this method is pure virtual and reauires to be overloaded in implementation

Implemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ getLastPredictedMeasurement()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getLastPredictedMeasurement ( )

virtual

Get the last simulated measurement.

◆ getLastPrediction()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getLastPrediction ( )

virtual

Get the last predicted state.

◆ getMeasurement()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getMeasurement ( )

virtual

◆ getMeasurementInput()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getMeasurementInput ( )

virtual

◆ getMeasurementNoiseCovariance()

virtual Matrix stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getMeasurementNoiseCovariance ( ) const

virtual

gets the covariance matrices for the sensor noises

Reimplemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ getMeasurementSize()

virtual Index stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getMeasurementSize ( ) const

pure virtual

Gets the measurements size this method is pure virtual and reauires to be overloaded in implementation

Implemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ getPredictedMeasurement()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getPredictedMeasurement ( )

virtual

Get the simulated measurement of the predicted state.

◆ getPrediction()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getPrediction ( )

virtual

Get the predicted state.

◆ getProcessNoiseCovariance()

virtual Matrix stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getProcessNoiseCovariance ( ) const

virtual

gets the covariance matrices for the process noises

Reimplemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ getSimulatedMeasurement()

virtual Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getSimulatedMeasurement ( )

virtual

Gets a simulation of the.

◆ getStateSize()

virtual Index stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::getStateSize ( ) const

pure virtual

Gets the state size this method is pure virtual and reauires to be overloaded in implementation

Implemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ resetCovarianceMatrices()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::resetCovarianceMatrices ( )

pure virtual

Resets the covariance matrices to their original values.

Implemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ setFlexibilityCovariance()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setFlexibilityCovariance ( const Matrix & P )

virtual

Sets the covariance matrix of the flexibility Guess.

◆ setFlexibilityGuess()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setFlexibilityGuess ( const Matrix & )

pure virtual

Sets a value of the flexibility x_k provided from another source can be used for initialization of the estimator This is a pure virtual function that requires to be overloaded in implementation

Implements stateObservation::flexibilityEstimation::FlexibilityEstimatorBase.

Implemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ setInput()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setInput ( const Vector & u )

virtual

Sets the value of the next input for the state process dynamics i.e. : gives u_k such that x_{k+1} = f(x_k,u_k)

◆ setJacobians()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setJacobians	(	const Matrix &	A,
		const Matrix &	C
	)

protectedvirtual

◆ setMeasurement()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setMeasurement ( const Vector & y )

virtual

Sets the value of the next sensor measurement y_{k+1}.

Implements stateObservation::flexibilityEstimation::FlexibilityEstimatorBase.

Reimplemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ setMeasurementInput()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setMeasurementInput ( const Vector & u )

virtual

Sets the value of the next measurement i.e. : gives u_{k+1} such that y_{k+1}=h(x_{k+1},u_{k+1})

◆ setMeasurementNoiseCovariance()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setMeasurementNoiseCovariance ( const Matrix & R )

virtual

Sets the covariance matrices for the sensor noises

R sensor noise

Reimplemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ setProcessNoiseCovariance()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::setProcessNoiseCovariance ( const Matrix & Q )

virtual

Sets the covariance matrices for the process noises

Q process noise

Reimplemented in stateObservation::flexibilityEstimation::FixedContactEKFFlexEstimatorIMU, and stateObservation::flexibilityEstimation::ModelBaseEKFFlexEstimatorIMU.

◆ useFiniteDifferencesJacobians()

virtual void stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::useFiniteDifferencesJacobians ( Vector dx )

protectedvirtual

Member Data Documentation

◆ dx_

Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::dx_

protected

◆ ekf_

stateObservation::ExtendedKalmanFilter stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::ekf_

protected

◆ finiteDifferencesJacobians_

bool stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::finiteDifferencesJacobians_

protected

◆ k_

TimeIndex stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::k_

protected

◆ lastX_

Vector stateObservation::flexibilityEstimation::EKFFlexibilityEstimatorBase::lastX_

protected

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

include/state-observation/flexibility-estimation/ekf-flexibility-estimator-base.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EKFFlexibilityEstimatorBase()

◆ ~EKFFlexibilityEstimatorBase()

Member Function Documentation

◆ getEKF() [1/2]

◆ getEKF() [2/2]

◆ getFlexibility()

◆ getFlexibilityCovariance()

◆ getFlexibilityVector()

◆ getInnovation()

◆ getInput()

◆ getInputSize()

◆ getLastPredictedMeasurement()

◆ getLastPrediction()

◆ getMeasurement()

◆ getMeasurementInput()

◆ getMeasurementNoiseCovariance()

◆ getMeasurementSize()

◆ getPredictedMeasurement()

◆ getPrediction()

◆ getProcessNoiseCovariance()

◆ getSimulatedMeasurement()

◆ getStateSize()

◆ resetCovarianceMatrices()

◆ setFlexibilityCovariance()

◆ setFlexibilityGuess()

◆ setInput()

◆ setJacobians()

◆ setMeasurement()

◆ setMeasurementInput()

◆ setMeasurementNoiseCovariance()

◆ setProcessNoiseCovariance()

◆ useFiniteDifferencesJacobians()

Member Data Documentation

◆ dx_

◆ ekf_

◆ finiteDifferencesJacobians_

◆ k_

◆ lastX_