class
RecursiveLeastSquare
Base classes
-
template<class Output>class BipedalLocomotion::System::Source<RecursiveLeastSquareState>
- Source is a template specialization of Advanceable and represents a block that does not contains input.
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handlerWeak) -> bool override - Initialize the filter.
- void setRegressorFunction(std::function<Eigen::MatrixXd(void)> regressor)
- Set the regressor function.
- void setRegressor(const Eigen::Ref<const Eigen::MatrixXd>& regressor)
- Set the regressor function.
- void setMeasurements(const Eigen::Ref<const Eigen::VectorXd>& measurements)
- Set the measurements @parameter measurements vector containing all the measurements.
- auto advance() -> bool final
- Compute one step of the filter.
- auto getOutput() const -> const RecursiveLeastSquareState& final
- Get the expected value and the covariance matrix of the estimated parameters.
- auto isOutputValid() const -> bool final
- Determines the validity of the object retrieved with get()
Function documentation
bool BipedalLocomotion:: Estimators:: RecursiveLeastSquare:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handlerWeak) override
Initialize the filter.
Parameters | |
---|---|
handlerWeak | weak pointer to a ParametersHandler:: |
Returns | True in case of success, false otherwise. |
void BipedalLocomotion:: Estimators:: RecursiveLeastSquare:: setRegressorFunction(std::function<Eigen::MatrixXd(void)> regressor)
Set the regressor function.
@parameter regressor function that return an Eigen::MatrixXd containing the regressor of the system
void BipedalLocomotion:: Estimators:: RecursiveLeastSquare:: setRegressor(const Eigen::Ref<const Eigen::MatrixXd>& regressor)
Set the regressor function.
@parameter regressor is the regressor matrix.
bool BipedalLocomotion:: Estimators:: RecursiveLeastSquare:: advance() final
Compute one step of the filter.
Returns | True in case of success, false otherwise |
---|
const RecursiveLeastSquareState& BipedalLocomotion:: Estimators:: RecursiveLeastSquare:: getOutput() const final
Get the expected value and the covariance matrix of the estimated parameters.
Returns | A struct containing the expected value and the covariance of the estimated parameters. |
---|
bool BipedalLocomotion:: Estimators:: RecursiveLeastSquare:: isOutputValid() const final
Determines the validity of the object retrieved with get()
Returns | True if the object is valid, false otherwise. |
---|