Public Member Functions | List of all members
stateObservation::flexibilityEstimation::FlexibilityEstimatorBase Class Referenceabstract

This class is the base class of the flexibility estimators. More...

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

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Public Member Functions

virtual ~FlexibilityEstimatorBase ()
 virtual destructor More...
 
 FlexibilityEstimatorBase ()
 The constructor. More...
 
virtual void setFlexibilityGuess (const Matrix &)=0
 
virtual void setMeasurement (const Vector &)=0
 Sets the value of the next sensor measurement y_{k+1}. More...
 
virtual Matrix4 getFlexibility ()=0
 Gets an estimation of the flexibility in the form of a homogeneous matrix. More...
 

Detailed Description

This class is the base class of the flexibility estimators.

Constructor & Destructor Documentation

◆ ~FlexibilityEstimatorBase()

virtual stateObservation::flexibilityEstimation::FlexibilityEstimatorBase::~FlexibilityEstimatorBase ( )
inlinevirtual

virtual destructor

◆ FlexibilityEstimatorBase()

stateObservation::flexibilityEstimation::FlexibilityEstimatorBase::FlexibilityEstimatorBase ( )
explicit

The constructor.

Member Function Documentation

◆ getFlexibility()

virtual Matrix4 stateObservation::flexibilityEstimation::FlexibilityEstimatorBase::getFlexibility ( )
pure virtual

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

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

◆ setFlexibilityGuess()

virtual void stateObservation::flexibilityEstimation::FlexibilityEstimatorBase::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

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

◆ setMeasurement()

virtual void stateObservation::flexibilityEstimation::FlexibilityEstimatorBase::setMeasurement ( const Vector &  )
pure virtual

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

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

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