AnymalStateEstimator
The state estimator for anymal.
tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ > Class Template Referenceabstract

#include <AnymalOdometryTsif.hpp>

Inheritance diagram for tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >:
Inheritance graph

Public Types

using Base = FilterWithDefinition< FilterDefinition_ >
 
using RobotModel = typename romo::RobotModel< ConcreteRobotDescription_, RobotState_ >
 
using RD = typename RobotModel::RD
 
using CT = typename ConcreteRobotDescription_::ConcreteTopology
 
using ContactEnum = typename CT::ContactEnum
 
template<typename T >
using ContactEnumContainer = std_utils::EnumArray< ContactEnum, T >
 

Public Member Functions

 AnymalOdometryTsif ()=default
 
 ~AnymalOdometryTsif () override=default
 
void SetInitPose (const kindr::HomTransformQuatD &T_IB_init)
 
void SetImuOffset (const Vec3 &B_r_BM)
 
void SetInitContacts (const ContactEnumContainer< Vec3 > &B_r_BSi_init)
 
kindr::HomTransformQuatD & GetInitPose ()
 
const kindr::HomTransformQuatD & GetInitPose () const
 
virtual TimePoint GetLastImuStamp () const =0
 
virtual double GetLastLandmarkStamp () const =0
 
virtual void AddMeasurementLinearAccelerationWorldToImuInBase (const TimePoint &time, const Vec3 &B_f_IM)=0
 
virtual void AddMeasurementAngularVelocityWorldToBaseInBase (const TimePoint &time, const Vec3 &B_omega_IB)=0
 
virtual void AddMeasurementPositionsBaseToFootInBase (const TimePoint &time, const ContactEnumContainer< Vec3 > &B_r_BSi)=0
 
virtual void AddMeasurementContacts (const ContactEnumContainer< anymal_state_estimator::Contact > &contacts, bool fakeKinematicsUpdateActive)=0
 
virtual tsif::Vec3 GetPositionWorldToBaseInWorld () const =0
 
virtual tsif::Quat GetOrientationBaseToWorld () const =0
 
virtual tsif::Vec3 GetLinearVelocityWorldToImuInBase () const =0
 
virtual tsif::Vec3 GetAngularVelocityWorldToBaseInBase () const =0
 
virtual tsif::Vec3 GetLinearAccelerationBiasInBase () const =0
 
virtual tsif::Vec3 GetAngularVelocityBiasInBase () const =0
 
virtual int GetPositionWorldToBaseInWorldIndex () const =0
 
virtual int GetOrientationBaseToWorldIndex () const =0
 
virtual int GetLinearVelocityWorldToImuInBaseIndex () const =0
 
virtual int GetAngularVelocityWorldToBaseInBaseIndex () const =0
 
virtual int GetLinearAccelerationBiasInBaseIndex () const =0
 
virtual int GetAngularVelocityBiasInBaseIndex () const =0
 

Protected Attributes

kindr::HomTransformQuatD T_IB_init_
 
ContactEnumContainer< Vec3 > B_r_BSi_init_
 
Vec3 B_r_BM_
 

Member Typedef Documentation

template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
using tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::Base = FilterWithDefinition<FilterDefinition_>
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
using tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::ContactEnum = typename CT::ContactEnum
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
template<typename T >
using tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::ContactEnumContainer = std_utils::EnumArray<ContactEnum, T>
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
using tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::CT = typename ConcreteRobotDescription_::ConcreteTopology
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
using tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::RD = typename RobotModel::RD
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
using tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::RobotModel = typename romo::RobotModel<ConcreteRobotDescription_, RobotState_>

Constructor & Destructor Documentation

template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::AnymalOdometryTsif ( )
default
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::~AnymalOdometryTsif ( )
overridedefault

Member Function Documentation

template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual void tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::AddMeasurementAngularVelocityWorldToBaseInBase ( const TimePoint &  time,
const Vec3 &  B_omega_IB 
)
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual void tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::AddMeasurementContacts ( const ContactEnumContainer< anymal_state_estimator::Contact > &  contacts,
bool  fakeKinematicsUpdateActive 
)
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual void tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::AddMeasurementLinearAccelerationWorldToImuInBase ( const TimePoint &  time,
const Vec3 &  B_f_IM 
)
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual void tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::AddMeasurementPositionsBaseToFootInBase ( const TimePoint &  time,
const ContactEnumContainer< Vec3 > &  B_r_BSi 
)
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual tsif::Vec3 tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetAngularVelocityBiasInBase ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual int tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetAngularVelocityBiasInBaseIndex ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual tsif::Vec3 tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetAngularVelocityWorldToBaseInBase ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual int tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetAngularVelocityWorldToBaseInBaseIndex ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
kindr::HomTransformQuatD& tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetInitPose ( )
inline
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
const kindr::HomTransformQuatD& tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetInitPose ( ) const
inline
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual TimePoint tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetLastImuStamp ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual double tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetLastLandmarkStamp ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual tsif::Vec3 tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetLinearAccelerationBiasInBase ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual int tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetLinearAccelerationBiasInBaseIndex ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual tsif::Vec3 tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetLinearVelocityWorldToImuInBase ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual int tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetLinearVelocityWorldToImuInBaseIndex ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual tsif::Quat tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetOrientationBaseToWorld ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual int tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetOrientationBaseToWorldIndex ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual tsif::Vec3 tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetPositionWorldToBaseInWorld ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
virtual int tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::GetPositionWorldToBaseInWorldIndex ( ) const
pure virtual
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
void tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::SetImuOffset ( const Vec3 &  B_r_BM)
inline
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
void tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::SetInitContacts ( const ContactEnumContainer< Vec3 > &  B_r_BSi_init)
inline
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
void tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::SetInitPose ( const kindr::HomTransformQuatD &  T_IB_init)
inline

Member Data Documentation

template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
Vec3 tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::B_r_BM_
protected
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
ContactEnumContainer<Vec3> tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::B_r_BSi_init_
protected
template<typename ConcreteRobotDescription_ , typename RobotState_ , typename FilterDefinition_ >
kindr::HomTransformQuatD tsif::AnymalOdometryTsif< ConcreteRobotDescription_, RobotState_, FilterDefinition_ >::T_IB_init_
protected

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