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

The MotorCurrentMeasurementDynamics class is a concrete implementation of the Dynamics.

Please use this element to define the measurement of the motor current. The MotorCurrentMeasurementDynamics represents the following equation in the continuous time:

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.

Constructors, destructors, conversion operators

MotorCurrentMeasurementDynamics()
~MotorCurrentMeasurementDynamics() virtual

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler, const std::string& name) -> bool override: Initialize the measurement object.
auto finalize(const System::VariablesHandler& measurementVariableHandler) -> 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 checkStateVariableHandler() -> bool override: Controls whether the variable handler contains the variables on which the dynamics depend.
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 measurement variable associated to ths object.
void setInput(const UKFInput& ukfInput) override: Set a UKFInput object.

Function documentation

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

Initialize the measurement object.

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

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`input_name`	`string`	Name of the variable in input to the main application corresponding to this dynamics	Yes
`covariance`	`vector`	Process covariances	Yes
`dynamic_model`	`string`	Type of dynamic model describing the measurement dynamics.	Yes
`torque_constant`	`vector`	Vector of coefficients k0. For more info check the class description.	Yes
`gear_ratio`	`vector`	Vector of coefficients k1. For more info check the class description.	Yes

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::MotorCurrentMeasurementDynamics::finalize(const System::VariablesHandler& measurementVariableHandler) override

Finalize the Dynamics.

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

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

Update the content of the element.

Returns	True in case of success, false otherwise.

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

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

Parameters
ukfState	reference to the ukf state.
Returns	true if the current state has been updated correctly.

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

Set a UKFInput object.

Parameters
ukfInput	reference to the UKFInput struct.