class
FirstOrderSmootherFirstOrderSmoother smoother implements a simple smoother based on a first order linear system.
The system is described by the following ode
where the is given by . is the settling time at 5%. The linear system is propagated with a Forward Euler integrator.
Base classes
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template<class _Input, class _Output>class BipedalLocomotion::System::Advanceable<Eigen::VectorXd, Eigen::VectorXd>
- Basic class that represents a discrete system.
Public functions
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auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool override - Initialize the Dynamical system.
- auto reset(Eigen::Ref<const Eigen::VectorXd> initialState) -> bool
- Set the state of the smoother.
- auto advance() -> bool override
- Perform one integration step using the input set by the FirstOrderSmoother::
setInput method. - auto getOutput() const -> const Eigen::VectorXd& override
- Get the output of the smoother.
- auto setInput(const Eigen::VectorXd& input) -> bool override
- Set the input of the smoother.
- auto isOutputValid() const -> bool override
- Determines the validity of the object retrieved with getOutput()
Function documentation
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FirstOrderSmoother:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) override
Initialize the Dynamical system.
Parameters | |
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handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FirstOrderSmoother:: reset(Eigen::Ref<const Eigen::VectorXd> initialState)
Set the state of the smoother.
Parameters | |
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initialState | initial state of the smoother |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FirstOrderSmoother:: advance() override
Perform one integration step using the input set by the FirstOrderSmoother::
Returns | True in case of success and false otherwise |
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const Eigen::VectorXd& BipedalLocomotion:: ContinuousDynamicalSystem:: FirstOrderSmoother:: getOutput() const override
Get the output of the smoother.
Returns | a vector containing the outpur of the smoother |
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bool BipedalLocomotion:: ContinuousDynamicalSystem:: FirstOrderSmoother:: setInput(const Eigen::VectorXd& input) override
Set the input of the smoother.
Parameters | |
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input | the vector representing the input of the smoother |
Returns | True in case of success and false otherwise |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FirstOrderSmoother:: isOutputValid() const override
Determines the validity of the object retrieved with getOutput()
Returns | True if the object is valid, false otherwise. |
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