Estimators namespace
Namespaces
- namespace FloatingBaseEstimators
- namespace RobotDynamicsEstimator
Classes
- struct RecursiveLeastSquareState
- RecursiveLeastSquare contains the implementation of the Recursive least square filter described in Lennart Ljung - System Identification Theory for the User (1999, Prentice Hall).
- class RecursiveLeastSquare
- struct BaseEstimatorFromFootIMUState
- BaseEstimatorFromFootIMUState contains the internal state of the estimator.
- struct BaseEstimatorFromFootIMUInput
- BaseEstimatorFromFootIMUInput contains the input of the BaseEstimatorFromFootIMU class.
- class BaseEstimatorFromFootIMU
- BaseEstimatorFromFootIMU implements the propagation of the foot pose to the root link through the kinematic chain given by the leg joints positions.
- class FloatingBaseEstimator
- FloatingBaseEstimator class contains the bare-bones implementation for a LeggedOdometry based or Extended Kalman Filter based floating base estimation algorithms for bipedal robots.
- class InvariantEKFBaseEstimator
- InvariantEKFBaseEstimator class implements the Contact Aided Invariant EKF algorithm, developed by Ross Hartley, Maani Ghaffari, Ryan M.
- class LeggedOdometry
- Floating base estimation algorithm using only kinematic measurements by assuming atleast one frame on the robot is in contact with the environment.