stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem Class Reference

This class describes the dynamics of a robot's flexibility this dynamics is the simplest possible system, the flexibility is expressed as a rotation against the contact positions with no other hypothesis than that the contact points are at constant position. More...

#include <state-observation/flexibility-estimation/imu-fixed-contact-dynamical-system.hpp>

Inheritance diagram for stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem:

Collaboration diagram for stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem:

Public Member Functions
	IMUFixedContactDynamicalSystem (double dt)
	constructor
virtual	~IMUFixedContactDynamicalSystem ()
	virtual destructor
virtual stateObservation::Vector	stateDynamics (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	Description of the state dynamics.
virtual stateObservation::Vector	measureDynamics (const stateObservation::Vector &x, const stateObservation::Vector &u, TimeIndex k)
	Description of the sensor's dynamics.
virtual void	setProcessNoise (stateObservation::NoiseBase *)
	Sets a noise which disturbs the state dynamics.
virtual void	resetProcessNoise ()
	Removes the process noise.
virtual stateObservation::NoiseBase *	getProcessNoise () const
	Gets the process noise.
virtual void	setMeasurementNoise (stateObservation::NoiseBase *)
	Sets a noise which disturbs the measurements.
virtual void	resetMeasurementNoise ()
	Removes the measurement noise.
virtual stateObservation::NoiseBase *	getMeasurementNoise () const
	Gets a pointer on the measurement noise.
virtual void	setSamplingPeriod (double dt)
	Set the period of the time discretization.
virtual Index	getStateSize () const
	Gets the state size.
virtual Index	getInputSize () const
	Gets the input size.
virtual Index	getMeasurementSize () const
	Gets the measurement size.
virtual void	setContactsNumber (unsigned)
	Sets the number of contacts.
virtual void	setContactPosition (unsigned i, const Vector3 &position)
	Sets the position of the contact number i.
Public Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
	DynamicalSystemFunctorBase ()
virtual	~DynamicalSystemFunctorBase ()
virtual void	reset ()
virtual bool	checkStateVector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be a state vector.
virtual bool	checkInputvector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be an input vector.

Protected Types
typedef kine::indexes< kine::rotationVector >	indexes

Protected Member Functions
Quaternion	computeQuaternion_ (const Vector3 &x)
Protected Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
void	assertStateVector_ (const Vector &v)
void	assertInputVector_ (const Vector &v)

Protected Attributes
stateObservation::AccelerometerGyrometer	sensor_
stateObservation::NoiseBase *	processNoise_
double	dt_
Vector3Unaligned	orientationVector_
QuaternionUnaligned	quaternion_
Index	measurementSize_
std::vector< Vector3, Eigen::aligned_allocator< Vector3 > >	contactPositions_

Static Protected Attributes
static const Index	stateSize_ = 18
static const Index	inputSize_ = 15
static const Index	measurementSizeBase_ = 6

Detailed Description

This class describes the dynamics of a robot's flexibility this dynamics is the simplest possible system, the flexibility is expressed as a rotation against the contact positions with no other hypothesis than that the contact points are at constant position.

Member Typedef Documentation

indexes

typedef kine::indexes<kine::rotationVector> stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::indexes

protected

Constructor & Destructor Documentation

IMUFixedContactDynamicalSystem()

stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::IMUFixedContactDynamicalSystem ( double  dt )

explicit

constructor

~IMUFixedContactDynamicalSystem()

virtual stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::~IMUFixedContactDynamicalSystem ( )

virtual

virtual destructor

Member Function Documentation

computeQuaternion_()

Quaternion stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::computeQuaternion_ ( const Vector3 &  x )

protected

getInputSize()

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

virtual

Gets the input size.

Implements stateObservation::DynamicalSystemFunctorBase.

getMeasurementNoise()

virtual stateObservation::NoiseBase * stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::getMeasurementNoise ( ) const

virtual

Gets a pointer on the measurement noise.

getMeasurementSize()

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

virtual

Gets the measurement size.

Implements stateObservation::DynamicalSystemFunctorBase.

getProcessNoise()

virtual stateObservation::NoiseBase * stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::getProcessNoise ( ) const

virtual

Gets the process noise.

getStateSize()

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

virtual

Gets the state size.

Implements stateObservation::DynamicalSystemFunctorBase.

measureDynamics()

virtual stateObservation::Vector stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::measureDynamics ( const stateObservation::Vector &  x, const stateObservation::Vector &  u, TimeIndex  k  )

virtual

Description of the sensor's dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

resetMeasurementNoise()

virtual void stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::resetMeasurementNoise ( )

virtual

Removes the measurement noise.

resetProcessNoise()

virtual void stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::resetProcessNoise ( )

virtual

Removes the process noise.

setContactPosition()

virtual void stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::setContactPosition ( unsigned  i, const Vector3 &  position  )

virtual

Sets the position of the contact number i.

setContactsNumber()

virtual void stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::setContactsNumber ( unsigned  )

virtual

Sets the number of contacts.

setMeasurementNoise()

virtual void stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::setMeasurementNoise ( stateObservation::NoiseBase *  )

virtual

Sets a noise which disturbs the measurements.

setProcessNoise()

virtual void stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::setProcessNoise ( stateObservation::NoiseBase *  )

virtual

Sets a noise which disturbs the state dynamics.

setSamplingPeriod()

virtual void stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::setSamplingPeriod ( double  dt )

virtual

Set the period of the time discretization.

stateDynamics()

virtual stateObservation::Vector stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::stateDynamics ( const stateObservation::Vector &  x, const stateObservation::Vector &  u, TimeIndex  k  )

virtual

Description of the state dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

Member Data Documentation

contactPositions_

std::vector<Vector3, Eigen::aligned_allocator<Vector3> > stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::contactPositions_

protected

dt_

double stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::dt_

protected

inputSize_

const Index stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::inputSize_ = 15

staticprotected

measurementSize_

Index stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::measurementSize_

protected

measurementSizeBase_

const Index stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::measurementSizeBase_ = 6

staticprotected

orientationVector_

Vector3Unaligned stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::orientationVector_

protected

processNoise_

stateObservation::NoiseBase* stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::processNoise_

protected

quaternion_

QuaternionUnaligned stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::quaternion_

protected

sensor_

stateObservation::AccelerometerGyrometer stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::sensor_

protected

stateSize_

const Index stateObservation::flexibilityEstimation::IMUFixedContactDynamicalSystem::stateSize_ = 18

staticprotected

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

• include/state-observation/flexibility-estimation/imu-fixed-contact-dynamical-system.hpp