BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics class
#include <BipedalLocomotion/RobotDynamicsEstimator/FrictionTorqueStateDynamics.h>

The FrictionTorqueDynamics class is a concrete implementation of the Dynamics.

Please use this element if you want to use a specific friction torque model dynamics. The FrictionTorqueDynamics represents the following equation in the continuous time:

since the friction model implemented by this class is defined as:

In the discrete time the dynamics is defined as:

Base classes

class Dynamics: The class Dynamics represents a base class describing a generic model composing the ukf process model or the ukf measurement model.

Constructors, destructors, conversion operators

FrictionTorqueStateDynamics()
~FrictionTorqueStateDynamics() virtual

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool override: Initialize the state dynamics.
auto finalize(const System::VariablesHandler& stateVariableHandler) -> bool override: Finalize the Dynamics.
auto setSubModels(const std::vector<SubModel>& subModelList, const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) -> bool override: Set the KinDynWrapper object.
auto checkStateVariableHandler() -> bool override: Controls whether the variable handler contains the variables on which the dynamics depend.
auto update() -> bool override: Update the content of the element.
void setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override: Set the state of the ukf needed to update the dynamics of the state variable associated to ths object.
void setInput(const UKFInput& ukfInput) override: Set a UKFInput object.

Function documentation

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override

Initialize the state dynamics.

Parameters
paramHandler	pointer to the parameters handler.
Returns	True in case of success, false otherwise.

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`name`	`string`	Name of the state contained in the `VariablesHandler` describing the state associated to this dynamics	Yes
`covariance`	`vector`	Process covariances	Yes
`initial_covariance`	`vector`	Initial state covariances	Yes
`dynamic_model`	`string`	Type of dynamic model describing the state dynamics.	Yes
`elements`	`vector`	Vector of strings describing the list of sub variables composing the state associated to this dynamics.	No
`friction_k0`	`vector`	Vector of coefficients k0. For more info check the class description.	Yes
`friction_k1`	`vector`	Vector of coefficients k1. For more info check the class description.	Yes
`friction_k2`	`vector`	Vector of coefficients k2. For more info check the class description.	Yes
`dT`	`double`	Sampling time.	Yes

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics::finalize(const System::VariablesHandler& stateVariableHandler) override

Finalize the Dynamics.

Parameters
stateVariableHandler	object describing the variables in the state vector.
Returns	true in case of success, false otherwise.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics::setSubModels(const std::vector<SubModel>& subModelList, const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) override

Set the KinDynWrapper object.

Parameters
subModelList	list of SubModel objects
kinDynWrapperList	list of pointers to KinDynWrapper objects.
Returns	True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics::checkStateVariableHandler() override

Controls whether the variable handler contains the variables on which the dynamics depend.

Returns	True in case all the dependencies are contained in the variable handler, false otherwise.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics::update() override

Update the content of the element.

Returns	True in case of success, false otherwise.

void BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics::setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override

Set the state of the ukf needed to update the dynamics of the state variable associated to ths object.

Parameters
ukfState	reference to the ukf state.

void BipedalLocomotion::Estimators::RobotDynamicsEstimator::FrictionTorqueStateDynamics::setInput(const UKFInput& ukfInput) override

Set a UKFInput object.

Parameters
ukfInput	reference to the UKFInput struct.