model-base-ekf-flex-estimator-imu.hpp

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#ifndef FLEXBILITYESTMATOR_MODELBASEEKFFLEXIBILITYESTIMATOR_IMU_H
#define FLEXBILITYESTMATOR_MODELBASEEKFFLEXIBILITYESTIMATOR_IMU_H
 
#include <state-observation/api.h>
#include <state-observation/flexibility-estimation/ekf-flexibility-estimator-base.hpp>
// #include <state-observation/flexibility-estimation/stable-imu-fixed-contact-dynamical-system.hpp>
#include <state-observation/flexibility-estimation/imu-elastic-local-frame-dynamical-system.hpp>
// #include <state-observation/flexibility-estimation/imu-fixed-contact-dynamical-system.hpp>
 
namespace stateObservation
{
namespace flexibilityEstimation
{
 
class STATE_OBSERVATION_DLLAPI ModelBaseEKFFlexEstimatorIMU : public EKFFlexibilityEstimatorBase,
                                                              private boost::noncopyable
{
public:
  struct contactModel
  {
    static const unsigned elasticContact = IMUElasticLocalFrameDynamicalSystem::contactModel::elasticContact;
    static const unsigned pendulum = IMUElasticLocalFrameDynamicalSystem::contactModel::pendulum;
  };
 
  explicit ModelBaseEKFFlexEstimatorIMU(double dt = 0.005);
 
  virtual ~ModelBaseEKFFlexEstimatorIMU();
 
  void setContactsNumber(unsigned i);
 
  unsigned getContactsNumber()
  {
    return functor_.getContactsNumber();
  }
 
  IMUElasticLocalFrameDynamicalSystem getFunctor()
  {
    return functor_;
  }
 
  virtual stateObservation::Vector computeAccelerations()
  {
    return functor_.computeAccelerations(getFlexibilityVector(), getInput());
  }
 
  void setContactModel(unsigned nb);
 
  virtual void setMeasurement(const Vector & y);
 
  virtual void setProcessNoiseCovariance(const Matrix & Q);
 
  virtual void setMeasurementNoiseCovariance(const Matrix & R);
 
  virtual Matrix getProcessNoiseCovariance() const;
 
  virtual Matrix getMeasurementNoiseCovariance() const;
 
  virtual Vector getMomentaDotFromForces();
  virtual Vector getMomentaDotFromKinematics();
  virtual Vector getForcesAndMoments();
 
  // get state covariance
  stateObservation::Vector getStateCovariance() const
  {
    stateObservation::Matrix P(ekf_.getStateCovariance());
    stateObservation::Vector Pvec(ekf_.getStateSize());
    for(Index i = 0; i < ekf_.getStateSize(); ++i) Pvec(i) = P(i, i);
    return Pvec;
  }
 
  virtual void setComBiasGuess(const stateObservation::Vector & x);
 
  virtual void setFlexibilityGuess(const Matrix & x);
 
  virtual Matrix4 getFlexibility();
 
  virtual const Vector & getFlexibilityVector();
 
  virtual stateObservation::Matrix & computeLocalObservationMatrix();
  virtual stateObservation::Matrix getAMatrix()
  {
    return ekf_.getA();
  }
 
  virtual stateObservation::Matrix getCMatrix()
  {
    return ekf_.getC();
  }
 
  virtual Index getMeasurementSize() const;
 
  virtual Index getStateSize() const;
 
  virtual Index getInputSize() const;
 
  virtual void setWithForcesMeasurements(bool);
 
  bool getWithForcesMeasurements();
 
  virtual void setWithAbsolutePos(bool);
 
  void setWithUnmodeledForces(bool b);
 
  bool getWithUnmodeledForces()
  {
    return withUnmodeledForces_;
  }
 
  bool getWithAbsolutePos()
  {
    return withAbsolutePos_;
  }
 
  virtual void setWithComBias(bool b);
 
  virtual bool getWithComBias()
  {
    return withComBias_;
  }
 
  virtual void setUnmodeledForceVariance(double d);
  virtual void setUnmodeledForceProcessVariance(double d);
 
  virtual void setForceVariance(double d);
  virtual void setForceVariance(const Matrix3 & C);
 
  virtual void setAbsolutePosVariance(double d);
 
  virtual void setSamplingPeriod(double);
 
  void setOn(bool & b);
 
  virtual void setKfe(const Matrix3 & m);
  virtual void setKfv(const Matrix3 & m);
  virtual void setKte(const Matrix3 & m);
  virtual void setKtv(const Matrix3 & m);
 
  virtual void setKfeRopes(const Matrix3 & m);
  virtual void setKfvRopes(const Matrix3 & m);
  virtual void setKteRopes(const Matrix3 & m);
  virtual void setKtvRopes(const Matrix3 & m);
 
  virtual void setPe(const stateObservation::Vector3 & Pe)
  {
    functor_.setPe(Pe);
  }
 
  virtual Matrix getKfe() const;
  virtual Matrix getKfv() const;
  virtual Matrix getKte() const;
  virtual Matrix getKtv() const;
 
  virtual void resetCovarianceMatrices();
  virtual void resetStateCovarianceMatrix();
 
  virtual void setRobotMass(double m);
  virtual double getRobotMass() const
  {
    return functor_.getRobotMass();
  }
 
  void setTorquesLimit(const Vector3 & v)
  {
    limitTorques_ = v;
  }
 
  void setForcesLimit(const Vector3 & v)
  {
    limitForces_ = v;
  }
 
  virtual stateObservation::Vector3 getForcesLimit() const
  {
    return limitForces_;
  }
 
  virtual stateObservation::Vector3 getTorquesLimit() const
  {
    return limitTorques_;
  }
 
  void setLimitOn(const bool & b)
  {
    limitOn_ = b;
  }
 
  virtual bool getLimitOn() const
  {
    return limitOn_;
  }
 
  static Matrix getDefaultQ();
 
  static Matrix6 getDefaultRIMU();
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
protected:
  virtual void updateMeasurementCovarianceMatrix_();
 
  IMUElasticLocalFrameDynamicalSystem functor_;
 
  Vector x_;
 
  Matrix R_, Q_, P_;
 
  const Index stateSize_;
 
  static const Index measurementSizeBase_ = 12;
 
  static const Index inputSizeBase_ = IMUElasticLocalFrameDynamicalSystem::input::sizeBase;
  Index inputSize_;
 
  double dt_; // sampling period
  bool on_;
 
  double unmodeledForceVariance_;
  Matrix forceVariance_; // force sensor variance
  double absPosVariance_;
 
  bool useFTSensors_;
 
  bool withAbsolutePos_;
  bool withComBias_;
  bool withUnmodeledForces_;
 
  Vector3 limitTorques_;
  Vector3 limitForces_;
  bool limitOn_;
 
  struct optimization
  {
    stateObservation::Matrix O;
    stateObservation::Matrix CA;
  } op_;
 
private:
};
 
} // namespace flexibilityEstimation
} // namespace stateObservation
#endif // FLEXBILITYESTMATOR_MODELBASEEKFFLEXIBILITYESTIMATOR_IMU_H