BipedalLocomotion::Estimators::RobotDynamicsEstimator namespace

Classes

class AccelerometerMeasurementDynamics
The AccelerometerMeasurementDynamics class is a concrete implementation of the Dynamics.
class ConstantMeasurementModel
The ConstantMeasurementModel class is a concrete implementation of the Dynamics.
struct UKFInput
The UKFInput struct represents the input of the ukf needed to update the dynamics.
class UkfInputProvider
UkfInputProvider describes the provider for the inputs of the ukf.
class Dynamics
The class Dynamics represents a base class describing a generic model composing the ukf process model or the ukf measurement model.
class DynamicsFactory
DynamicsFactory implements the factory design patter for constructing a Dynamics given its model.
class FrictionTorqueStateDynamics
The FrictionTorqueDynamics class is a concrete implementation of the Dynamics.
class GyroscopeMeasurementDynamics
The GyroscopeMeasurementDynamics class is a concrete implementation of the Dynamics.
class JointVelocityStateDynamics
The JointVelocityDynamics class is a concrete implementation of the Dynamics.
class KinDynWrapper
KinDynWrapper is a concrete class and implements a wrapper of the KinDynComputation class from iDynTree.
class MotorCurrentMeasurementDynamics
The MotorCurrentMeasurementDynamics class is a concrete implementation of the Dynamics.
struct RobotDynamicsEstimatorInput
RobotDynamicsEstimatorInput of the RobotDynamicsEstimator containing both the inputs and the measurements for the Unscented Kalman Filter.
struct RobotDynamicsEstimatorOutput
RobotDynamicsEstimatorOutput of the RobotDynamicsEstimator which represents the estimation of the Unscented Kalman Filter.
class RobotDynamicsEstimator
RobotDynamicsEstimator is a concrete class and implements a robot dynamics estimator.
struct Sensor
Sensor describes the generic sensors of the submodels.
struct FT
FT describes the force/torque sensors of the submodels.
class SubModel
SubModel is a concrete class describing the sub-model object, its model, the list of sensors and the mapping between its joints and the same joints in the full model.
class SubModelCreator
SubModelCreator is a concrete class and splits a model into sub-models along the force/torque sensors specified as configuration parameters.
class UkfMeasurement
UkfMeasurement is a concrete class that represents the Measurement of the estimator.
class UkfModel
UkfModel is a base class to define the process and measurement model of the UKF.
class UkfState
UkfState is a concrete class that represents the State of the estimator.
class ZeroVelocityStateDynamics
The ZeroVelocityStateDynamics class is a concrete implementation of the Dynamics.

Functions

BLF_REGISTER_UKF_DYNAMICS(AccelerometerMeasurementDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)
BLF_REGISTER_UKF_DYNAMICS(ConstantMeasurementModel, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)
BLF_REGISTER_UKF_DYNAMICS(FrictionTorqueStateDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)
BLF_REGISTER_UKF_DYNAMICS(GyroscopeMeasurementDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)
BLF_REGISTER_UKF_DYNAMICS(JointVelocityStateDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)
BLF_REGISTER_UKF_DYNAMICS(MotorCurrentMeasurementDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)
BLF_REGISTER_UKF_DYNAMICS(ZeroVelocityStateDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)