fixed-contact-ekf-flex-estimator-imu.hpp

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#ifndef FLEXBILITYESTMATOR_FIXEDCONTACTEKFFLEXIBILITYESTIMATOR_IMU_H
#define FLEXBILITYESTMATOR_FIXEDCONTACTEKFFLEXIBILITYESTIMATOR_IMU_H
 
#include <state-observation/api.h>
#include <state-observation/flexibility-estimation/ekf-flexibility-estimator-base.hpp>
#include <state-observation/flexibility-estimation/imu-fixed-contact-dynamical-system.hpp>
 
namespace stateObservation
{
namespace flexibilityEstimation
{
 
class STATE_OBSERVATION_DLLAPI FixedContactEKFFlexEstimatorIMU : public EKFFlexibilityEstimatorBase,
                                                                 private boost::noncopyable
{
public:
  explicit FixedContactEKFFlexEstimatorIMU(double dt = 0.005);
 
  virtual ~FixedContactEKFFlexEstimatorIMU();
 
  void setContactsNumber(unsigned i);
 
  void setContactPosition(unsigned i, Vector3 position);
 
  virtual void setMeasurement(const Vector & y);
 
  virtual void setVirtualMeasurementsCovariance(double c_);
 
  virtual double getVirtualMeasurementsCovariance() const;
 
  virtual void setProcessNoiseCovariance(const Matrix & Q);
 
  virtual void setMeasurementNoiseCovariance(const Matrix & R);
 
  virtual Matrix getProcessNoiseCovariance() const;
 
  virtual Matrix getMeasurementNoiseCovariance() const;
 
  virtual void setFlexibilityGuess(const Matrix & x);
 
  virtual Matrix4 getFlexibility();
 
  virtual const Vector & getFlexibilityVector();
 
  virtual Index getMeasurementSize() const;
 
  virtual Index getStateSize() const;
 
  virtual Index getInputSize() const;
 
  virtual void setSamplingPeriod(double);
 
  virtual void resetCovarianceMatrices();
 
protected:
  typedef kine::indexes<kine::rotationVector> indexes;
 
  virtual void updateCovarianceMatrix_();
 
  IMUFixedContactDynamicalSystem functor_;
 
  double virtualMeasurementCovariance_;
 
  Matrix R_, Q_;
 
  static const Index stateSizeConst_ = 18;
  static const Index measurementSizeConst_ = 6;
  static const Index inputSizeConst_ = 15;
 
  double dt_; // sampling period
 
private:
};
 
} // namespace flexibilityEstimation
} // namespace stateObservation
#endif // FLEXBILITYESTMATOR_FIXEDCONTACTEKFFLEXIBILITYESTIMATOR_H