BipedalLocomotion::Estimators::BaseEstimatorFromFootIMU class
#include <BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h>

BaseEstimatorFromFootIMU implements the propagation of the foot pose to the root link through the kinematic chain given by the leg joints positions.

This class assumes that the foot has a rectangular shape as shown in the following schematics

p2 __|__ p1 __ | | | | ___|__|__|___+ | FOOT | | | | LENGTH |__|__| __| p3 | p4
|_____| FOOT WIDTH

Base classes

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

auto setModel(const iDynTree::Model& model) -> bool: Set the iDynTree::Model of the robot to be used by the estimator.
auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool override: Initialize the BaseEstimatorFromFootIMU block.
auto setInput(const BaseEstimatorFromFootIMUInput& input) -> bool override: Set the input of the estimator.
auto advance() -> bool override: Perform one step of the estimator.
auto isOutputValid() const -> bool override: Check if the output of the estimator is valid.
auto getOutput() const -> const BaseEstimatorFromFootIMUState& override: Get the internal state of the BaseEstimatorFromFootIMU.
void setState(const BaseEstimatorFromFootIMUState& state): Set the state of the BaseEstimatorFromFootIMU.

Set the iDynTree::Model of the robot to be used by the estimator.

Parameters
model	the model considered in the estimator
Returns	true in case of success, false otherwise.

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

The setModel and setStanceFootRF methods must be called before initialization.

The following parameters are required

Parameter Name	Type	Description	Mandatory
`foot_width_in_m`	`double`	Transversal dimension of the robot foot	Yes
`foot_length_in_m`	`double`	Longitudinal dimension of the robot foot	Yes

Moreover the user needs to add a group named MODEL_INFO that contains the following parameters.

Parameter Name	Type	Description	Mandatory
`base_frame`	`std::string`	Name of the frame whose pose must be estimated	Yes
`foot_frame`	`std::string`	Name of the frame of one of the possible stance feet (whose orientation is measured)	Yes

Set the input of the estimator.

Parameters
input	the input of the system.
Returns	true in case of success, false otherwise.

Perform one step of the estimator.

Returns	true in case of success, false otherwise.

The estimator must have been initialized first.

Check if the output of the estimator is valid.

Returns	true in case of success, false otherwise.

Get the internal state of the BaseEstimatorFromFootIMU.

Returns	a const reference to the state of the estimator.

Parameters
state	of the BaseEstimatorFromFootIMU