AnymalStateEstimator
The state estimator for anymal.
AnymalStateEstimator.hpp File Reference
#include <ros/ros.h>
#include <any_state_estimator/AnyStateEstimator.hpp>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/Bool.h>
#include <anymal_state_estimator/ForceCalibratorCommand.h>
#include <anymal_state_estimator/ForceCalibratorConfig.h>
#include <robot_utils_ros/ForceCalibratorCommand.h>
#include <std_srvs/Empty.h>
#include <std_srvs/Trigger.h>
#include <anymal_description_ros/anymal_description_ros.hpp>
#include <any_msgs/SetUInt32.h>
#include <any_msgs/Toggle.h>
#include <any_msgs/ExtendedJointState.h>
#include <any_measurements/PoseWithCovariance.hpp>
#include <any_measurements/Time.hpp>
#include <any_measurements/Wrench.hpp>
#include <any_measurements_ros/any_measurements_ros.hpp>
#include <notification/NotificationPublisher.hpp>
#include <Eigen/Core>
#include "anymal_state_estimator/ContactWrenchPublisher.hpp"
#include "anymal_state_estimator/contact_wrench_sources/ContactWrenchInterface.hpp"
#include <anymal_state_estimator/contact_detector_ros/ContactDetectorThresholdingRos.hpp>
#include <anymal_state_estimator/contact_wrench_sources/ContactWrenchEstimator.hpp>
#include <anymal_state_estimator/contact_wrench_sources/ContactWrenchReceiver.hpp>
#include <anymal_state_estimator/contact_detector/ContactDetectorFromKFE.hpp>
#include <anymal_state_estimator/anymal_filter/AnymalFilter.hpp>
#include <anymal_state_estimator/anymal_state_estimator_utils/Contact.hpp>
#include <robot_utils_ros/ForceCalibratorCommands.h>
#include <robot_utils/contact_detectors/ContactDetectorBase.hpp>
#include <robot_utils/force_calibrators/AverageForceCalibrator.hpp>
#include <robot_utils/force_calibrators/ForceCalibratorBase.hpp>
#include <robot_utils/force_calibrators/NoneForceCalibrator.hpp>
#include <cosmo_ros/cosmo_ros.hpp>
#include <signal_logger/signal_logger.hpp>
#include <kindr/Core>
#include <romo/ContactForceEstimation.hpp>
#include <romo/RobotModel.hpp>
#include <memory>
#include <string>
#include <chrono>
#include <mutex>
#include <message_logger/message_logger.hpp>
#include <quadruped_model/QuadrupedFramesGeneratorBase.hpp>
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Classes

class  anymal_state_estimator::AnymalStateEstimator< ConcreteDescription_, RobotState_, RobotContainersRos_, Filter_ >
 Base class used for state estimation for a generic anymal type robot with custom attachments. More...
 

Namespaces

 anymal_state_estimator
 

Detailed Description

Author
Christian Gehring, Markus Staeuble
Date
Oct, 2014