BipedalLocomotion::Estimators::RecursiveLeastSquare class
#include <BipedalLocomotion/Estimators/RecursiveLeastSquare.h>

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.

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()

Initialize the filter.

Parameters
handlerWeak	weak pointer to a ParametersHandler::IParametersHandler interface @tparameter Derived particular implementation of the IParameterHandler
Returns	True in case of success, false otherwise.

Set the regressor function.

@parameter regressor function that return an Eigen::MatrixXd containing the regressor of the system

Set the regressor function.

@parameter regressor is the regressor matrix.

Compute one step of the filter.

Returns	True in case of success, false otherwise

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.

Determines the validity of the object retrieved with get()

Returns	True if the object is valid, false otherwise.