Public Member Functions | Public Attributes | List of all members
stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization Struct Reference

#include <state-observation/flexibility-estimation/imu-elastic-local-frame-dynamical-system.hpp>

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Public Member Functions

 Optimization ()
 
Vector3 & orientationVector (int i)
 
Matrix3 & curRotation (int i)
 

Public Attributes

Vector6 momentaDot
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vector3 positionFlex
 
Vector3 velocityFlex
 
Vector3 accelerationFlex
 
Vector3 orientationFlexV
 
Vector3 angularVelocityFlex
 
Vector3 angularAccelerationFlex
 
Vector3 positionComBias
 
Matrix3 rFlex
 
Matrix3 rFlexT
 
Vector3 drift
 
Vector3 pdrift
 
Matrix3 rdrift
 
double cy
 
double sy
 
AngleAxis orientationAA
 
Vector xk1
 
Vector xk
 
Vector xk1dx
 
Vector xdx
 
Vector xk_fory
 
Vector yk
 
Vector ykdy
 
TimeIndex k_fory
 
Matrix3 orinertia
 
LLTMatrix3 invinertia
 
Matrix3 rtotal
 
Vector3 ptotal
 
AngleAxis aatotal
 
Vector3 oritotal
 
Matrix Jx
 
Matrix Jy
 
Matrix3 rimu
 
Vector3 imuAcc
 
Vector3 imuOmega
 
Vector sensorState
 
Vector3 positionCom
 
Vector3 velocityCom
 
Vector3 accelerationCom
 
Vector3 AngMomentum
 
Vector3 dotAngMomentum
 
Vector3 positionControl
 
Vector3 velocityControl
 
Vector3 accelerationControl
 
Vector3 orientationControlV
 
Vector3 angularVelocityControl
 
Matrix3 rControl
 
IndexedVectorArray contactPosV
 
IndexedVectorArray contactOriV
 
IndexedVectorArray contactVelArray
 
IndexedVectorArray contactAngVelArray
 
Matrix3 inertia
 
Matrix3 dotInertia
 
IndexedVectorArray efforts
 
Vector3 f
 
Vector3 fi
 
Vector3 t
 
Vector3 fm
 
Vector3 tm
 
Vector3 linearAcceleration
 
Vector3 angularAcceleration
 
Vector3 vf
 
Vector3 vt
 
Vector3 crosstempV
 
Matrix3 crosstempM
 
Matrix3 Rci
 
Matrix3 Rcit
 
Vector3 contactPos
 
Vector3 contactVel
 
Vector3 RciContactPos
 
Vector3 globalContactPos
 
Matrix3 Rt
 
Vector3 forcei
 
Vector3 momenti
 
Vector3 addForce
 
Vector3 addMoment
 
Matrix3 skewV
 
Matrix3 skewV2
 
Matrix3 skewVR
 
Matrix3 skewV2R
 
Matrix3 RIRT
 
Vector3 wx2Rc
 
Vector3 _2wxRv
 
Vector3 Ra
 
Vector3 Rc
 
Vector3 Rcp
 
Matrix3 curRotation0
 
Vector3 orientationVector0
 
Matrix3 curRotation1
 
Vector3 orientationVector1
 
Matrix3 curRotation2
 
Vector3 orientationVector2
 
Matrix3 curRotation3
 
Vector3 orientationVector3
 

Constructor & Destructor Documentation

◆ Optimization()

stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Optimization ( )
inline

Member Function Documentation

◆ curRotation()

Matrix3& stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::curRotation ( int  i)
inline

◆ orientationVector()

Vector3& stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationVector ( int  i)
inline

Member Data Documentation

◆ _2wxRv

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::_2wxRv

◆ aatotal

AngleAxis stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::aatotal

◆ accelerationCom

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::accelerationCom

◆ accelerationControl

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::accelerationControl

◆ accelerationFlex

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::accelerationFlex

◆ addForce

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::addForce

◆ addMoment

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::addMoment

◆ AngMomentum

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::AngMomentum

◆ angularAcceleration

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::angularAcceleration

◆ angularAccelerationFlex

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::angularAccelerationFlex

◆ angularVelocityControl

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::angularVelocityControl

◆ angularVelocityFlex

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::angularVelocityFlex

◆ contactAngVelArray

IndexedVectorArray stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::contactAngVelArray

◆ contactOriV

IndexedVectorArray stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::contactOriV

◆ contactPos

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::contactPos

◆ contactPosV

IndexedVectorArray stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::contactPosV

◆ contactVel

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::contactVel

◆ contactVelArray

IndexedVectorArray stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::contactVelArray

◆ crosstempM

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::crosstempM

◆ crosstempV

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::crosstempV

◆ curRotation0

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::curRotation0

◆ curRotation1

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::curRotation1

◆ curRotation2

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::curRotation2

◆ curRotation3

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::curRotation3

◆ cy

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::cy

◆ dotAngMomentum

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::dotAngMomentum

◆ dotInertia

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::dotInertia

◆ drift

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::drift

◆ efforts

IndexedVectorArray stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::efforts

◆ f

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::f

◆ fi

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::fi

◆ fm

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::fm

◆ forcei

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::forcei

◆ globalContactPos

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::globalContactPos

◆ imuAcc

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::imuAcc

◆ imuOmega

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::imuOmega

◆ inertia

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::inertia

◆ invinertia

LLTMatrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::invinertia

◆ Jx

Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Jx

◆ Jy

Matrix stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Jy

◆ k_fory

TimeIndex stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::k_fory

◆ linearAcceleration

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::linearAcceleration

◆ momentaDot

Vector6 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::momentaDot

◆ momenti

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::momenti

◆ orientationAA

AngleAxis stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationAA

◆ orientationControlV

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationControlV

◆ orientationFlexV

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationFlexV

◆ orientationVector0

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationVector0

◆ orientationVector1

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationVector1

◆ orientationVector2

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationVector2

◆ orientationVector3

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orientationVector3

◆ orinertia

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::orinertia

◆ oritotal

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::oritotal

◆ pdrift

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::pdrift

◆ positionCom

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::positionCom

◆ positionComBias

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::positionComBias

◆ positionControl

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::positionControl

◆ positionFlex

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::positionFlex

◆ ptotal

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::ptotal

◆ Ra

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Ra

◆ Rc

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Rc

◆ Rci

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Rci

◆ RciContactPos

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::RciContactPos

◆ Rcit

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Rcit

◆ rControl

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::rControl

◆ Rcp

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Rcp

◆ rdrift

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::rdrift

◆ rFlex

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::rFlex

◆ rFlexT

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::rFlexT

◆ rimu

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::rimu

◆ RIRT

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::RIRT

◆ Rt

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::Rt

◆ rtotal

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::rtotal

◆ sensorState

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::sensorState

◆ skewV

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::skewV

◆ skewV2

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::skewV2

◆ skewV2R

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::skewV2R

◆ skewVR

Matrix3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::skewVR

◆ sy

double stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::sy

◆ t

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::t

◆ tm

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::tm

◆ velocityCom

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::velocityCom

◆ velocityControl

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::velocityControl

◆ velocityFlex

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::velocityFlex

◆ vf

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::vf

◆ vt

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::vt

◆ wx2Rc

Vector3 stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::wx2Rc

◆ xdx

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::xdx

◆ xk

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::xk

◆ xk1

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::xk1

◆ xk1dx

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::xk1dx

◆ xk_fory

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::xk_fory

◆ yk

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::yk

◆ ykdy

Vector stateObservation::flexibilityEstimation::IMUElasticLocalFrameDynamicalSystem::Optimization::ykdy
The documentation for this struct was generated from the following file: