class
JointVelocityStateDynamicsThe JointVelocityDynamics class is a concrete implementation of the Dynamics.
Please use this element if you want to use the robot dynamic model to update the joint dynamics. The JointVelocityDynamics represents the following equation in the continuous time:
where \ddot{s} is given as an input to this class. The discretized model becomes:
Base classes
Constructors, destructors, conversion operators
Public functions
- auto setSubModels(const std::vector<SubModel>& subModelList, const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) -> bool override
- Set the KinDynWrapper object.
-
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 checkStateVariableHandler() -> bool override
- Controls whether the variable handler contains the variables on which the dynamics depend.
- auto update() -> bool override
- Update the state.
- void setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override
- Set the state of the ukf needed to update the dynamics of the state variable associated to ths object.
- void setInput(const UKFInput& ukfInput) override
- Set a
UKFInput
object.
Function documentation
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: JointVelocityStateDynamics:: 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:: JointVelocityStateDynamics:: 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:: JointVelocityStateDynamics:: 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:: JointVelocityStateDynamics:: checkStateVariableHandler() override
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. |
---|
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: JointVelocityStateDynamics:: update() override
Update the state.
Returns | True in case of success, false otherwise. |
---|
void BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: JointVelocityStateDynamics:: setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) override
Set the state of the ukf needed to update the dynamics of the state variable associated to ths object.
Parameters | |
---|---|
ukfState | reference to the ukf state. |