namespace
RobotDynamicsEstimator
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 ExternalContactStateDynamics
- The ExternalContactStateDynamics class is a concrete implementation of the Dynamics.
- 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 FTSensor
- FTSensor 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(ExternalContactStateDynamics,
::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)