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

#include <ContactWrenchEstimator.hpp>

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

Public Types

using RobotModel = romo::RobotModel< ConcreteDescription_, RobotState_ >
 
using RD = typename RobotModel::RD
 
using WrenchShm = any_measurements::Wrench
 
using WrenchRos = geometry_msgs::WrenchStamped
 
using ContactEnum = typename RD::ContactEnum
 
using ContactForceEstimation = romo::ContactForceEstimation< ConcreteDescription_, RobotState_ >
 
- Public Types inherited from anymal_state_estimator::ContactWrenchInterface
using WrenchShm = any_measurements::Wrench
 
using WrenchRos = geometry_msgs::WrenchStamped
 

Public Member Functions

 ContactWrenchEstimator ()=delete
 
 ContactWrenchEstimator (const std::string &name, const double maxTimeout, const ContactEnum contactEnum, const RobotModel &model, std::shared_ptr< ContactForceEstimation > estimator, bool useMeasuredAccelerations, bool updateEstimator=true)
 
 ~ContactWrenchEstimator () override=default
 
void init () override
 
void update () override
 
- Public Member Functions inherited from anymal_state_estimator::ContactWrenchInterface
 ContactWrenchInterface ()=delete
 
 ContactWrenchInterface (std::string name, const double maxTimeout)
 
virtual ~ContactWrenchInterface ()=default
 
ros::Time getRosTime () const
 
any_measurements::Time getTime () const
 
WrenchShm getWrench () const
 
void getWrench (WrenchShm &wrench) const
 
virtual bool hasTimeout (const double lastTime) const
 

Protected Attributes

const RobotModelrobotModel_
 
std::shared_ptr< ContactForceEstimationestimator_
 
const ContactEnum contactEnum_
 
const bool updateEstimator_
 
bool useMeasuredAccelerations_
 
- Protected Attributes inherited from anymal_state_estimator::ContactWrenchInterface
std::string name_
 
boost::shared_mutex mutexWrench_
 
WrenchShm wrench_
 
const double maxTimeout_
 
bool hasWrench_
 

Member Typedef Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::ContactEnum = typename RD::ContactEnum
template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::ContactForceEstimation = romo::ContactForceEstimation<ConcreteDescription_, RobotState_>
template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::RD = typename RobotModel::RD
template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::RobotModel = romo::RobotModel<ConcreteDescription_, RobotState_>
template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::WrenchRos = geometry_msgs::WrenchStamped
template<typename ConcreteDescription_ , typename RobotState_ >
using anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::WrenchShm = any_measurements::Wrench

Constructor & Destructor Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::ContactWrenchEstimator ( )
delete
template<typename ConcreteDescription_ , typename RobotState_ >
anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::ContactWrenchEstimator ( const std::string &  name,
const double  maxTimeout,
const ContactEnum  contactEnum,
const RobotModel model,
std::shared_ptr< ContactForceEstimation estimator,
bool  useMeasuredAccelerations,
bool  updateEstimator = true 
)
inline
template<typename ConcreteDescription_ , typename RobotState_ >
anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::~ContactWrenchEstimator ( )
overridedefault

Member Function Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
void anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::init ( )
inlineoverridevirtual
template<typename ConcreteDescription_ , typename RobotState_ >
void anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::update ( )
inlineoverridevirtual

Member Data Documentation

template<typename ConcreteDescription_ , typename RobotState_ >
const ContactEnum anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::contactEnum_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
std::shared_ptr<ContactForceEstimation> anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::estimator_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
const RobotModel& anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::robotModel_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
const bool anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::updateEstimator_
protected
template<typename ConcreteDescription_ , typename RobotState_ >
bool anymal_state_estimator::ContactWrenchEstimator< ConcreteDescription_, RobotState_ >::useMeasuredAccelerations_
protected

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