class
BaseEstimatorFromFootIMUBaseEstimatorFromFootIMU implements the propagation of the foot pose to the root link through the kinematic chain given by the leg joints positions.
This class assumes that the foot has a rectangular shape as shown in the following schematics
p2 __|__ p1 __ | | | | ___|__|__|___+ | FOOT | | | | LENGTH |__|__| __| p3 | p4
|_____| FOOT WIDTH
Base classes
-
template<class _Input, class _Output>class BipedalLocomotion::System::Advanceable<BaseEstimatorFromFootIMUInput, BaseEstimatorFromFootIMUState>
- Basic class that represents a discrete system.
Public functions
- auto setModel(const iDynTree::Model& model) -> bool
- Set the iDynTree::Model of the robot to be used by the estimator.
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool override - Initialize the BaseEstimatorFromFootIMU block.
- auto setInput(const BaseEstimatorFromFootIMUInput& input) -> bool override
- Set the input of the estimator.
- auto advance() -> bool override
- Perform one step of the estimator.
- auto isOutputValid() const -> bool override
- Check if the output of the estimator is valid.
- auto getOutput() const -> const BaseEstimatorFromFootIMUState& override
- Get the internal state of the BaseEstimatorFromFootIMU.
- void setState(const BaseEstimatorFromFootIMUState& state)
- Set the state of the BaseEstimatorFromFootIMU.
Function documentation
bool BipedalLocomotion:: Estimators:: BaseEstimatorFromFootIMU:: setModel(const iDynTree::Model& model)
Set the iDynTree::Model of the robot to be used by the estimator.
Parameters | |
---|---|
model | the model considered in the estimator |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: Estimators:: BaseEstimatorFromFootIMU:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler) override
Initialize the BaseEstimatorFromFootIMU block.
Parameters | |
---|---|
handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
The setModel and setStanceFootRF methods must be called before initialization.
bool BipedalLocomotion:: Estimators:: BaseEstimatorFromFootIMU:: setInput(const BaseEstimatorFromFootIMUInput& input) override
Set the input of the estimator.
Parameters | |
---|---|
input | the input of the system. |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: Estimators:: BaseEstimatorFromFootIMU:: advance() override
Perform one step of the estimator.
Returns | true in case of success, false otherwise. |
---|
The estimator must have been initialized first.
bool BipedalLocomotion:: Estimators:: BaseEstimatorFromFootIMU:: isOutputValid() const override
Check if the output of the estimator is valid.
Returns | true in case of success, false otherwise. |
---|
const BaseEstimatorFromFootIMUState& BipedalLocomotion:: Estimators:: BaseEstimatorFromFootIMU:: getOutput() const override
Get the internal state of the BaseEstimatorFromFootIMU.
Returns | a const reference to the state of the estimator. |
---|
void BipedalLocomotion:: Estimators:: BaseEstimatorFromFootIMU:: setState(const BaseEstimatorFromFootIMUState& state)
Set the state of the BaseEstimatorFromFootIMU.
Parameters | |
---|---|
state | of the BaseEstimatorFromFootIMU |