BipedalLocomotion::ContinuousDynamicalSystem::MultiStateWeightProvider class
#include <BipedalLocomotion/ContinuousDynamicalSystem/MultiStateWeightProvider.h>

MultiStateWeightProvider describes the provider for a constant weight.

Base classes

struct BipedalLocomotion::System::WeightProvider: WeightProvider describes the provider for a weight.

auto getOutput() const -> const Eigen::VectorXd& override: Get the weight associated to the provider.
auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool override: Initialize constant weight provider.
auto setState(const std::string& state) -> bool: Set the state of the provider.
auto reset(const std::string& state) -> bool: Reset the internal weight of the provider.
auto advance() -> bool override: Update the content of the weight provider.
auto isOutputValid() const -> bool final: Determines the validity of the weight.

Get the weight associated to the provider.

Returns	A vector representing the diagonal matrix of the weight

Initialize constant weight provider.

Parameters
handler	pointer to the parameter handler.
Returns	true in case of success/false otherwise.

The following parameters are required:

Parameter Name	Type	Description	Mandatory
`states`	`vector<string>`	Vector associated to the names of the state stored in the provider	Yes
`sampling_time`	`double`	Sampling time used to discrete the linear system	Yes
`settling_time`	`double`	5% settling time (The settling time, , is the time required for the system output to fall within a certain percentage (i.e. 5%) of the steady-state value for a step input.)	Yes

For each state defined in states, you should define a Group called state that contains the following parameters

Parameter Name	Type	Description	Mandatory
`weight`	`vector<double>`	Vector representing the diagonal matrix of a constant weight	Yes
`name`	`string`	Name of the state	Yes

Set the state of the provider.

Parameters
state	name of the state. Please notice that the name should be the one passed in the initialization
Returns	true in case of success/false otherwise.

Reset the internal weight of the provider.

Parameters
state	name of the state. Please notice that the name should be the one passed in the initialization.
Returns	true in case of success/false otherwise.

This method reset also the value of the dynamical system.

Update the content of the weight provider.

Returns	True in case of success and false otherwise

Determines the validity of the weight.

Returns	True if the weight is valid, false otherwise.