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

FirstOrderSmoother smoother implements a simple smoother based on a first order linear system.

The system is described by the following ode

where the is given by . is the settling time at 5%. The linear system is propagated with a Forward Euler integrator.

Base classes

template<class _Input, class _Output> class BipedalLocomotion::System::Advanceable<Eigen::VectorXd, Eigen::VectorXd>: Basic class that represents a discrete system.

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool override: Initialize the Dynamical system.
auto reset(Eigen::Ref<const Eigen::VectorXd> initialState) -> bool: Set the state of the smoother.
auto advance() -> bool override: Perform one integration step using the input set by the FirstOrderSmoother::setInput method.
auto getOutput() const -> const Eigen::VectorXd& override: Get the output of the smoother.
auto setInput(const Eigen::VectorXd& input) -> bool override: Set the input of the smoother.
auto isOutputValid() const -> bool override: Determines the validity of the object retrieved with getOutput()

Initialize the Dynamical system.

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
`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

Set the state of the smoother.

Parameters
initialState	initial state of the smoother
Returns	true in case of success, false otherwise.

Perform one integration step using the input set by the FirstOrderSmoother::setInput method.

Returns	True in case of success and false otherwise

Get the output of the smoother.

Returns	a vector containing the outpur of the smoother

Set the input of the smoother.

Parameters
input	the vector representing the input of the smoother
Returns	True in case of success and false otherwise

Determines the validity of the object retrieved with getOutput()

Returns	True if the object is valid, false otherwise.