AnymalStateEstimator
The state estimator for anymal.
anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ > Class Template Reference

#include <ContactDetectorFromKFE.hpp>

Inheritance diagram for anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >:
Inheritance graph

Public Types

using RobotModel = romo::RobotModel< ConcreteDescription_, RobotState_ >
 
using RD = typename RobotModel::RD
 

Public Member Functions

 ContactDetectorFromKFE (const std::string &name, const RobotModel &robotModel, const double lowerThreshold, const double upperThreshold, const unsigned int legId)
 
 ~ContactDetectorFromKFE () override=default
 
bool initialize (double dt) override
 
bool advance (double dt) override
 

Protected Member Functions

void detectContact ()
 
double computeKfeTorque ()
 

Protected Attributes

const RobotModelrobotModel_
 
double lowerThreshold_
 
double upperThreshold_
 
size_t legId_
 
unsigned int kfeJointUInt_
 

Member Typedef Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::RD = typename RobotModel::RD
template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::RobotModel = romo::RobotModel<ConcreteDescription_, RobotState_>

Constructor & Destructor Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::ContactDetectorFromKFE ( const std::string &  name,
const RobotModel robotModel,
const double  lowerThreshold,
const double  upperThreshold,
const unsigned int  legId 
)
template<typename ConcreteDescription_ , typename RobotState_ >
anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::~ContactDetectorFromKFE ( )
overridedefault

Member Function Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
bool anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::advance ( double  dt)
override
template<typename ConcreteDescription_ , typename RobotState_ >
double anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::computeKfeTorque ( )
protected
template<typename ConcreteDescription_ , typename RobotState_ >
void anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::detectContact ( )
protected
template<typename ConcreteDescription_ , typename RobotState_ >
bool anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::initialize ( double  dt)
override

Member Data Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
unsigned int anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::kfeJointUInt_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
size_t anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::legId_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
double anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::lowerThreshold_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
const RobotModel& anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::robotModel_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
double anymal_state_estimator::ContactDetectorFromKFE< ConcreteDescription_, RobotState_ >::upperThreshold_
protected

The documentation for this class was generated from the following file: