BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel class

The ConstantMeasurementModel class is a concrete implementation of the Dynamics.

Please use this element if you do not know the specific dynamics of a state variable. The ConstantMeasurementModel represents the following equation in the continuous time:

\[ \dot{x} = 0 \]

In the discrete time the following dynamics assigns the current state to the next state:

\[ x_{k+1} = x_{k} \]

Base classes

class Dynamics
The class Dynamics represents a base class describing a generic model composing the ukf process model or the ukf measurement model.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool override
Initialize the state dynamics.
auto finalize(const System::VariablesHandler& stateVariableHandler) -> bool override
Finalize the Dynamics.
auto setSubModels(const std::vector<SubModel>& subModelList, const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) -> bool override
Set the KinDynWrapper object.
auto update() -> bool override
Update the content of the element.
void setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override
Set the state of the ukf needed to update the dynamics of the state/measurement variable associated to ths object.
void setInput(const UKFInput& ukfInput) override
Set a UKFInput object.

Private functions

auto checkStateVariableHandler() -> bool override
Controls whether the variable handler contains the variables on which the dynamics depend.

Function documentation

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override

Initialize the state dynamics.

Parameters
paramHandler pointer to the parameters handler.
Returns True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel::finalize(const System::VariablesHandler& stateVariableHandler) override

Finalize the Dynamics.

Parameters
stateVariableHandler object describing the variables in the state vector.
Returns true in case of success, false otherwise.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel::setSubModels(const std::vector<SubModel>& subModelList, const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) override

Set the KinDynWrapper object.

Parameters
subModelList list of SubModel objects
kinDynWrapperList list of pointers to KinDynWrapper objects.
Returns True in case of success, false otherwise.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel::update() override

Update the content of the element.

Returns True in case of success, false otherwise.

void BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel::setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override

Set the state of the ukf needed to update the dynamics of the state/measurement variable associated to ths object.

Parameters
ukfState reference to the ukf state.

void BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel::setInput(const UKFInput& ukfInput) override

Set a UKFInput object.

Parameters
ukfInput reference to the UKFInput struct.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::ConstantMeasurementModel::checkStateVariableHandler() override private

Controls whether the variable handler contains the variables on which the dynamics depend.

Returns True in case all the dependencies are contained in the variable handler, false otherwise.