BipedalLocomotion::Estimators::RobotDynamicsEstimator namespace

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.

struct UKFInput

The UKFInput struct represents the input of the ukf needed to update the dynamics.

class UkfInputProvider

UkfInputProvider describes the provider for the inputs of the ukf.

class Dynamics

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

class DynamicsFactory

DynamicsFactory implements the factory design patter for constructing a Dynamics given its model.

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 KinDynWrapper

KinDynWrapper is a concrete class and implements a wrapper of the KinDynComputation class from iDynTree.

class MotorCurrentMeasurementDynamics

The MotorCurrentMeasurementDynamics class is a concrete implementation of the Dynamics.

struct RobotDynamicsEstimatorInput

RobotDynamicsEstimatorInput of the RobotDynamicsEstimator containing both the inputs and the measurements for the Unscented Kalman Filter.

struct RobotDynamicsEstimatorOutput

RobotDynamicsEstimatorOutput of the RobotDynamicsEstimator which represents the estimation of the Unscented Kalman Filter.

class RobotDynamicsEstimator

RobotDynamicsEstimator is a concrete class and implements a robot dynamics estimator.

struct Sensor

Sensor describes the generic sensors of the submodels.

struct FTSensor

FTSensor describes the force/torque sensors of the submodels.

class SubModel

SubModel is a concrete class describing the sub-model object, its model, the list of sensors and the mapping between its joints and the same joints in the full model.

class SubModelCreator

SubModelCreator is a concrete class and splits a model into sub-models along the force/torque sensors specified as configuration parameters.

class UkfMeasurement

UkfMeasurement is a concrete class that represents the Measurement of the estimator.

class UkfModel

UkfModel is a base class to define the process and measurement model of the UKF.

class UkfState

UkfState is a concrete class that represents the State of the estimator.

class ZeroVelocityStateDynamics

The ZeroVelocityStateDynamics class is a concrete implementation of the Dynamics.

Functions

BLF_REGISTER_UKF_DYNAMICS(AccelerometerMeasurementDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)

BLF_REGISTER_UKF_DYNAMICS(ConstantMeasurementModel, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)

BLF_REGISTER_UKF_DYNAMICS(ExternalContactStateDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)

BLF_REGISTER_UKF_DYNAMICS(FrictionTorqueStateDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)

BLF_REGISTER_UKF_DYNAMICS(GyroscopeMeasurementDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)

BLF_REGISTER_UKF_DYNAMICS(JointVelocityStateDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)

BLF_REGISTER_UKF_DYNAMICS(MotorCurrentMeasurementDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)

BLF_REGISTER_UKF_DYNAMICS(ZeroVelocityStateDynamics, ::BipedalLocomotion::Estimators::RobotDynamicsEstimator::Dynamics)