AnymalStateEstimator
The state estimator for anymal.
anymal_state_estimator::PoseInitializer Class Reference

#include <PoseInitializer.hpp>

Public Member Functions

 PoseInitializer (const unsigned int sampleSize, const unsigned int throwawaySampleSize)
 
void addMeasurement (const Eigen::Vector3d &accelerationMeasurement)
 
bool getInitRollAndPitch (kindr::HomTransformQuatD &pose) const
 
void reset ()
 
bool initializationFinished () const
 

Private Member Functions

kindr::HomTransformQuatD getInitialPose () const
 

Private Attributes

const unsigned int sampleSize_
 
const unsigned int throwawaySampleSize_
 
unsigned int measurementCount_
 
Eigen::Vector3d averagedAcceleration_
 
kindr::HomTransformQuatD initialPose_
 
const Eigen::Vector3d gravityInWorldNormalized_ = Eigen::Vector3d(0., 0., -1.)
 
bool initializationFinished_
 

Constructor & Destructor Documentation

anymal_state_estimator::PoseInitializer::PoseInitializer ( const unsigned int  sampleSize,
const unsigned int  throwawaySampleSize 
)

Member Function Documentation

void anymal_state_estimator::PoseInitializer::addMeasurement ( const Eigen::Vector3d &  accelerationMeasurement)
kindr::HomTransformQuatD anymal_state_estimator::PoseInitializer::getInitialPose ( ) const
private
bool anymal_state_estimator::PoseInitializer::getInitRollAndPitch ( kindr::HomTransformQuatD &  pose) const
bool anymal_state_estimator::PoseInitializer::initializationFinished ( ) const
void anymal_state_estimator::PoseInitializer::reset ( )

Member Data Documentation

Eigen::Vector3d anymal_state_estimator::PoseInitializer::averagedAcceleration_
private
const Eigen::Vector3d anymal_state_estimator::PoseInitializer::gravityInWorldNormalized_ = Eigen::Vector3d(0., 0., -1.)
private
bool anymal_state_estimator::PoseInitializer::initializationFinished_
private
kindr::HomTransformQuatD anymal_state_estimator::PoseInitializer::initialPose_
private
unsigned int anymal_state_estimator::PoseInitializer::measurementCount_
private
const unsigned int anymal_state_estimator::PoseInitializer::sampleSize_
private
const unsigned int anymal_state_estimator::PoseInitializer::throwawaySampleSize_
private

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