#include <state-observation/dynamics-estimators/kinetics-observer.hpp>

Inheritance diagram for stateObservation::KineticsObserver::Contact:

Collaboration diagram for stateObservation::KineticsObserver::Contact:

Public Member Functions
	Contact ()

	~Contact ()

Public Member Functions inherited from stateObservation::KineticsObserver::Sensor
	Sensor (Index signalSize)

	~Sensor ()

Vector	extractFromVector (const Vector &v)

Public Attributes
Kinematics	worldRestPose
	State ///. More...

Vector6	wrenchMeasurement
	Measurements ///. More...

Kinematics	userContactKine
	Describes the measured wrench (forces + torques) at the contact in the sensor's frame. More...

Kinematics	centroidContactKine
	Describes the kinematics of the contact point in the centroid's frame. More...

CheckedMatrix6	sensorCovMatrix
	Describes the kinematics of the contact point in the centroid's frame. More...

Matrix3	linearStiffness
	measurement covariance matrix of the wrench sensor attached to the contact. More...

Matrix3	linearDamping
	linear stiffness associated to the contact, used in the visco-elastic model More...

Matrix3	angularStiffness
	linear damping associated to the contact, used in the visco-elastic model More...

Matrix3	angularDamping
	angular stiffness associated to the contact, used in the visco-elastic model More...

bool	isSet
	angular damping associated to the contact, used in the visco-elastic model More...

bool	withRealSensor

Index	stateIndex

Index	stateIndexTangent

Public Attributes inherited from stateObservation::KineticsObserver::Sensor
Index	measIndex

Index	measIndexTangent

Index	size

TimeIndex	time

Static Public Attributes
static const Kinematics::Flags::Byte	contactKineFlags

Constructor & Destructor Documentation

◆ Contact()

stateObservation::KineticsObserver::Contact::Contact ( )

inline

◆ ~Contact()

stateObservation::KineticsObserver::Contact::~Contact ( )

inline

Member Data Documentation

◆ angularDamping

Matrix3 stateObservation::KineticsObserver::Contact::angularDamping

angular stiffness associated to the contact, used in the visco-elastic model

◆ angularStiffness

Matrix3 stateObservation::KineticsObserver::Contact::angularStiffness

linear damping associated to the contact, used in the visco-elastic model

◆ centroidContactKine

Kinematics stateObservation::KineticsObserver::Contact::centroidContactKine

Describes the kinematics of the contact point in the centroid's frame.

◆ contactKineFlags

const Kinematics::Flags::Byte stateObservation::KineticsObserver::Contact::contactKineFlags

static

Initial value:

= 
        Kinematics::Flags::position | Kinematics::Flags::orientation | Kinematics::Flags::linVel
        | Kinematics::Flags::angVel

◆ isSet

bool stateObservation::KineticsObserver::Contact::isSet

angular damping associated to the contact, used in the visco-elastic model

Status ///

◆ linearDamping

Matrix3 stateObservation::KineticsObserver::Contact::linearDamping

linear stiffness associated to the contact, used in the visco-elastic model

◆ linearStiffness

Matrix3 stateObservation::KineticsObserver::Contact::linearStiffness

measurement covariance matrix of the wrench sensor attached to the contact.

◆ sensorCovMatrix

CheckedMatrix6 stateObservation::KineticsObserver::Contact::sensorCovMatrix

Describes the kinematics of the contact point in the centroid's frame.

◆ stateIndex

Index stateObservation::KineticsObserver::Contact::stateIndex

◆ stateIndexTangent

Index stateObservation::KineticsObserver::Contact::stateIndexTangent

◆ userContactKine

Kinematics stateObservation::KineticsObserver::Contact::userContactKine

Describes the measured wrench (forces + torques) at the contact in the sensor's frame.

Input ///

◆ withRealSensor

bool stateObservation::KineticsObserver::Contact::withRealSensor

◆ worldRestPose

Kinematics stateObservation::KineticsObserver::Contact::worldRestPose

State ///.

◆ wrenchMeasurement

Vector6 stateObservation::KineticsObserver::Contact::wrenchMeasurement

Measurements ///.

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

include/state-observation/dynamics-estimators/kinetics-observer.hpp

Public Member Functions

Public Attributes

Static Public Attributes