BipedalLocomotion::Estimators::FloatingBaseEstimator::ModelComputations class
#include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimator.h>

iDynTree based model-specific computations class This is class is used in a required configuration step for the estimator All the model related kinematics and dynamics computations specific to the floating base estimator are contained within this class.

Public functions

auto setKinDynObject(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool: Set the shared kindyn object.
auto setBaseLinkAndIMU(const std::string& baseLinkFrame, const std::string& imuFrame) -> bool: Set base link name and name of the IMU rigidly attached to the IMU.
auto setFeetContactFrames(const std::string& lFootContactFrame, const std::string& rFootContactFrame) -> bool: Set the feet contact frames, expected to be in contact with the environment.
auto isModelInfoLoaded() -> bool: Check if model is configured with the required information.
auto getIMU_H_feet(Eigen::Ref<const Eigen::VectorXd> encoders, manif::SE3d& IMU_H_l_foot, manif::SE3d& IMU_H_r_foot) -> bool: Get relative pose between IMU and the feet.
auto getIMU_H_feet(const Eigen::Ref<const Eigen::VectorXd> encoders, manif::SE3d& IMU_H_l_foot, manif::SE3d& IMU_H_r_foot, Eigen::Ref<Eigen::MatrixXd> J_IMULF, Eigen::Ref<Eigen::MatrixXd> J_IMURF) -> bool: Get relative pose between IMU and the feet.
auto getBaseStateFromIMUState(const manif::SE3d& A_H_IMU, Eigen::Ref<const Eigen::Matrix<double, 6, 1>> v_IMU, manif::SE3d& A_H_B, Eigen::Ref<Eigen::Matrix<double, 6, 1>> v_B) -> bool: Get the base link pose and velocity from the estimated IMU pose and velocity.
auto nrJoints() const -> const int&: Getters.
auto baseLink() const -> const std::string&
auto baseLinkIdx() const -> const iDynTree::FrameIndex&
auto baseIMUIdx() const -> const iDynTree::FrameIndex&
auto baseLinkIMU() const -> const std::string&
auto leftFootContactFrame() const -> const std::string&
auto rightFootContactFrame() const -> const std::string&
auto base_H_IMU() const -> const manif::SE3d&
auto isKinDynValid() const -> const bool&
auto kinDyn() const -> std::shared_ptr<iDynTree::KinDynComputations>

Function documentation

bool BipedalLocomotion::Estimators::FloatingBaseEstimator::ModelComputations::setKinDynObject(std::shared_ptr<iDynTree::KinDynComputations> kinDyn)

Set the shared kindyn object.

Parameters
kinDyn in	shared pointer of the common KinDynComputations resource
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::FloatingBaseEstimator::ModelComputations::setBaseLinkAndIMU(const std::string& baseLinkFrame, const std::string& imuFrame)

Set base link name and name of the IMU rigidly attached to the IMU.

Parameters
baseLinkFrame in	name of the base link frame
imuFrame in	name of the IMU frame
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::FloatingBaseEstimator::ModelComputations::setFeetContactFrames(const std::string& lFootContactFrame, const std::string& rFootContactFrame)

Set the feet contact frames, expected to be in contact with the environment.

Parameters
lFootContactFrame in	left foot contact frame
rFootContactFrame in	right foot contact frame
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::FloatingBaseEstimator::ModelComputations::isModelInfoLoaded()

Check if model is configured with the required information.

Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::FloatingBaseEstimator::ModelComputations::getIMU_H_feet(Eigen::Ref<const Eigen::VectorXd> encoders, manif::SE3d& IMU_H_l_foot, manif::SE3d& IMU_H_r_foot)

Get relative pose between IMU and the feet.

Parameters
encoders in	joint positions through encoder measurements
IMU_H_l_foot out	pose of the left foot contact frame with respect to the IMU frame
IMU_H_r_foot out	pose of the right foot contact frame with respect to the IMU frame
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::FloatingBaseEstimator::ModelComputations::getIMU_H_feet(const Eigen::Ref<const Eigen::VectorXd> encoders, manif::SE3d& IMU_H_l_foot, manif::SE3d& IMU_H_r_foot, Eigen::Ref<Eigen::MatrixXd> J_IMULF, Eigen::Ref<Eigen::MatrixXd> J_IMURF)