BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics class
#include <BipedalLocomotion/RobotDynamicsEstimator/Dynamics.h>

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

The Dynamics object is created from a parameter handler which specifies the name of the variable described by the dynamics object, the covariances associated to the variable, the initial covariance, the Dynamics model which specifies which implementation of this class will be used. The model of the Dynamics object depends on the current state and an input object which need to be set before calling the update method.

Derived classes

class AccelerometerMeasurementDynamics: The AccelerometerMeasurementDynamics class is a concrete implementation of the Dynamics.
class ConstantMeasurementModel: The ConstantMeasurementModel class is a concrete implementation of the Dynamics.
class ExternalContactStateDynamics: The ExternalContactStateDynamics class is a concrete implementation of the Dynamics.
class FrictionTorqueStateDynamics: The FrictionTorqueDynamics class is a concrete implementation of the Dynamics.
class GyroscopeMeasurementDynamics: The GyroscopeMeasurementDynamics class is a concrete implementation of the Dynamics.
class JointVelocityStateDynamics: The JointVelocityDynamics class is a concrete implementation of the Dynamics.
class MotorCurrentMeasurementDynamics: The MotorCurrentMeasurementDynamics class is a concrete implementation of the Dynamics.
class ZeroVelocityStateDynamics: The ZeroVelocityStateDynamics class is a concrete implementation of the Dynamics.

Constructors, destructors, conversion operators

~Dynamics() defaulted virtual: Destructor.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler, const std::string& name) -> bool virtual: Initialize the task.
auto finalize(const System::VariablesHandler& handler) -> bool virtual: Finalize the Dynamics.
auto setSubModels(const std::vector<SubModel>& subModelList, const std::vector<std::shared_ptr<KinDynWrapper>>& kinDynWrapperList) -> bool virtual: Set the KinDynWrapper object.
auto update() -> bool virtual: Update the dynamics of the variable.
auto getUpdatedVariable() const -> Eigen::Ref<const Eigen::VectorXd>: Get the next value m_updatedVariable.
auto size() const -> int: Get the size of the state.
void setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) pure virtual: Set the state of the ukf needed to update the dynamics.
void setInput(const UKFInput& ukfInput) pure virtual: Set a UKFInput object.
auto getCovariance() -> Eigen::Ref<const Eigen::VectorXd>: getCovariance access the covariance Eigen::VectorXd associated to the variables described by this dynamics.
auto getInitialStateCovariance() -> Eigen::Ref<const Eigen::VectorXd>: getInitialStateCovariance access the covariance Eigen::VectorXd associated to the initial state.

Protected functions

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

Protected variables

int m_size: Size of the variable associate to the Dynamics object.
Eigen::VectorXd m_updatedVariable: Updated variable computed using the dynamic model.
std::string m_description: String describing the type of the dynamics.
Eigen::VectorXd m_covariances: Vector of covariances.
bool m_isInitialized: True if the dynamics has been initialized.
Eigen::VectorXd m_initialCovariances: Vector of initial covariances.

Function documentation

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler, const std::string& name) virtual

Initialize the task.

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

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::finalize(const System::VariablesHandler& handler) virtual

Finalize the Dynamics.

Parameters
handler	object describing the variables in the vector for which all the dynamics are defined.
Returns	true in case of success, false otherwise.

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

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::Dynamics::update() virtual

Update the dynamics of the variable.

Returns	True in case of success, false otherwise.

Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::getUpdatedVariable() const

Get the next value m_updatedVariable.

Returns	a const reference to the next variable value.

int BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::size() const

Get the size of the state.

Returns	the size of the state.

void BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::setState(const Eigen::Ref<const Eigen::VectorXd> ukfState) pure virtual

Set the state of the ukf needed to update the dynamics.

Parameters
ukfState	reference to the ukf state.

void BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::setInput(const UKFInput& ukfInput) pure virtual

Set a UKFInput object.

Parameters
ukfInput	reference to the UKFInput struct.

Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::getCovariance()

getCovariance access the covariance Eigen::VectorXd associated to the variables described by this dynamics.

Returns	the vector of covariances.

Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::getInitialStateCovariance()

getInitialStateCovariance access the covariance Eigen::VectorXd associated to the initial state.

Returns	the vector of covariances.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics::checkStateVariableHandler() virtual protected

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.