sot-torque-control  1.6.2
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
BaseEstimator Class Reference

#include <sot/torque_control/base-estimator.hh>

Inheritance diagram for BaseEstimator:
Collaboration diagram for BaseEstimator:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW BaseEstimator (const std::string &name)
 
double compute_force_weight (double fz, double std_dev, double margin)
 
void compute_zmp (const Vector6 &w, Vector2 &zmp)
 
double compute_zmp_weight (const Vector2 &zmp, const Vector4 &foot_sizes, double std_dev, double margin)
 
 DECLARE_SIGNAL_IN (accelerometer, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (dforceLLEG, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (dforceRLEG, dynamicgraph::Vector)
 derivative of left force torque sensor More...
 
 DECLARE_SIGNAL_IN (forceLLEG, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (forceRLEG, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (gyroscope, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (imu_quaternion, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (joint_positions, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (joint_velocities, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (K_fb_feet_poses, double)
 weight of the estimation coming from the right foot More...
 
 DECLARE_SIGNAL_IN (lf_ref_xyzquat, dynamicgraph::Vector)
 feed back gain to correct feet position according to last base estimation and kinematic More...
 
 DECLARE_SIGNAL_IN (rf_ref_xyzquat, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (w_lf_in, double)
 derivative of right force torque sensor More...
 
 DECLARE_SIGNAL_IN (w_rf_in, double)
 weight of the estimation coming from the left foot More...
 
 DECLARE_SIGNAL_INNER (kinematics_computations, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (a_ac, dynamicgraph::Vector)
 right foot pose More...
 
 DECLARE_SIGNAL_OUT (lf_xyzquat, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (q, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (q_imu, dynamicgraph::Vector)
 n+6 robot configuration with base6d in RPY More...
 
 DECLARE_SIGNAL_OUT (q_lf, dynamicgraph::Vector)
 velocity of the base in the world with DC component removed More...
 
 DECLARE_SIGNAL_OUT (q_rf, dynamicgraph::Vector)
 n+6 robot configuration with base6d in RPY More...
 
 DECLARE_SIGNAL_OUT (rf_xyzquat, dynamicgraph::Vector)
 left foot pose More...
 
 DECLARE_SIGNAL_OUT (v, dynamicgraph::Vector)
 n+6 robot configuration with base6d in RPY More...
 
 DECLARE_SIGNAL_OUT (v_ac, dynamicgraph::Vector)
 acceleration of the base in the world with DC component removed More...
 
 DECLARE_SIGNAL_OUT (v_flex, dynamicgraph::Vector)
 6d robot velocities from kinematic only (encoders derivative) More...
 
 DECLARE_SIGNAL_OUT (v_gyr, dynamicgraph::Vector)
 6d robot velocities form imu only (accelerometer integration + gyro) More...
 
 DECLARE_SIGNAL_OUT (v_imu, dynamicgraph::Vector)
 6d robot velocities from flexibility only (force sensor derivative) More...
 
 DECLARE_SIGNAL_OUT (v_kin, dynamicgraph::Vector)
 n+6 robot velocities More...
 
 DECLARE_SIGNAL_OUT (w_lf, double)
 n+6 robot configuration with base6d in RPY More...
 
 DECLARE_SIGNAL_OUT (w_lf_filtered, double)
 weight of the estimation coming from the right foot More...
 
 DECLARE_SIGNAL_OUT (w_rf, double)
 weight of the estimation coming from the left foot More...
 
 DECLARE_SIGNAL_OUT (w_rf_filtered, double)
 filtered weight of the estimation coming from the left foot More...
 
virtual void display (std::ostream &os) const
 filtered weight of the estimation coming from the right foot More...
 
void init (const double &dt, const std::string &urdfFile)
 
void kinematics_estimation (const Vector6 &ft, const Vector6 &K, const SE3 &oMfs, const int foot_id, SE3 &oMff, SE3 &oMfa, SE3 &fsMff)
 
void reset_foot_positions ()
 
void reset_foot_positions_impl (const Vector6 &ftlf, const Vector6 &ftrf)
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)
 
void set_alpha_DC_acc (const double &a)
 
void set_alpha_DC_vel (const double &a)
 
void set_alpha_w_filter (const double &a)
 
void set_fz_stable_windows_size (const int &ws)
 
void set_imu_weight (const double &w)
 
void set_left_foot_sizes (const dynamicgraph::Vector &s)
 
void set_normal_force_margin_left_foot (const double &margin)
 
void set_normal_force_margin_right_foot (const double &margin)
 
void set_normal_force_std_dev_left_foot (const double &std_dev)
 
void set_normal_force_std_dev_right_foot (const double &std_dev)
 
void set_right_foot_sizes (const dynamicgraph::Vector &s)
 
void set_stiffness_left_foot (const dynamicgraph::Vector &k)
 
void set_stiffness_right_foot (const dynamicgraph::Vector &k)
 
void set_zmp_margin_left_foot (const double &margin)
 
void set_zmp_margin_right_foot (const double &margin)
 
void set_zmp_std_dev_left_foot (const double &std_dev)
 
void set_zmp_std_dev_right_foot (const double &std_dev)
 

Protected Attributes

Vector3 m_a_ac
 velocity of the base in the world with DC component removed More...
 
double m_alpha_DC_acc
 acceleration of the base in the world with DC component removed More...
 
double m_alpha_DC_vel
 alpha parameter for DC blocker filter on acceleration data More...
 
double m_alpha_w_filter
 alpha parameter for DC blocker filter on velocity data More...
 
pinocchio::Data * m_data
 Pinocchio robot model. More...
 
double m_dt
 true after the command resetFootPositions is called More...
 
double m_fz_margin_lf
 margin used for computing zmp weight More...
 
double m_fz_margin_rf
 margin used for computing normal force weight More...
 
int m_fz_stable_windows_size
 True if right foot as been stable for the last 'm_fz_stable_windows_size' samples. More...
 
double m_fz_std_dev_lf
 standard deviation of normal force measurement errors for right foot More...
 
double m_fz_std_dev_rf
 standard deviation of ZMP measurement errors for left foot More...
 
pinocchio::FrameIndex m_IMU_body_id
 
bool m_initSucceeded
 
bool m_isFirstIterFlag
 Normal distribution. More...
 
Vector6 m_K_lf
 6d stiffness of right foot spring More...
 
Vector6 m_K_rf
 margin used for computing normal force weight More...
 
Vector3 m_last_DCacc
 
Vector3 m_last_DCvel
 
Vector3 m_last_vel
 base orientation in the world More...
 
pinocchio::FrameIndex m_left_foot_id
 
bool m_left_foot_is_stable
 
Vector4 m_left_foot_sizes
 standard deviation of normal force measurement errors for left foot More...
 
int m_lf_fz_stable_cpt
 size of the windows used to detect that feet did not leave the ground More...
 
pinocchio::Model m_model
 filtered weight of the estimation coming from the right foot More...
 
normal m_normal
 Default reference for right foot pose to use if no ref is pluged. More...
 
pinocchio::SE3 m_oMff_lf
 Pinocchio robot data. More...
 
pinocchio::SE3 m_oMff_rf
 world-to-base transformation obtained through left foot More...
 
SE3 m_oMlfs
 world-to-base transformation obtained through right foot More...
 
SE3 m_oMlfs_default_ref
 
Vector7 m_oMlfs_xyzquat
 transformation from world to right foot sole More...
 
SE3 m_oMrfs
 transformation from world to left foot sole More...
 
SE3 m_oMrfs_default_ref
 Default reference for left foot pose to use if no ref is pluged. More...
 
Vector7 m_oMrfs_xyzquat
 
Matrix3 m_oRchest
 robot velocities according to SoT convention More...
 
Matrix3 m_oRff
 chest orientation in the world from angular fusion More...
 
Eigen::VectorXd m_q_pin
 
Eigen::VectorXd m_q_sot
 robot configuration according to pinocchio convention More...
 
bool m_reset_foot_pos
 true if the entity has been successfully initialized More...
 
int m_rf_fz_stable_cpt
 counter for detecting for how long the feet has been stable More...
 
pinocchio::FrameIndex m_right_foot_id
 foot sole to F/T sensor transformation More...
 
bool m_right_foot_is_stable
 True if left foot as been stable for the last 'm_fz_stable_windows_size' samples. More...
 
Vector4 m_right_foot_sizes
 sizes of the left foot (pos x, neg x, pos y, neg y) More...
 
RobotUtilShrPtr m_robot_util
 sampling time step More...
 
SE3 m_sole_M_ftSens
 flag to detect first iteration and initialise velocity filters More...
 
Vector3 m_v_ac
 6d robot velocities form gyroscope only (as if gyro measured the pure angular ankle velocities) More...
 
Eigen::VectorXd m_v_flex
 6d robot velocities from kinematic only (encoders derivative) More...
 
Eigen::VectorXd m_v_gyr
 6d robot velocities form imu only (accelerometer integration + gyro) More...
 
Eigen::VectorXd m_v_imu
 6d robot velocities from flexibility only (force sensor derivative) More...
 
Eigen::VectorXd m_v_kin
 6d stiffness of left foot spring More...
 
Eigen::VectorXd m_v_pin
 robot configuration according to SoT convention More...
 
Eigen::VectorXd m_v_sot
 robot velocities according to pinocchio convention More...
 
double m_w_imu
 counter for detecting for how long the feet has been stable More...
 
double m_w_lf_filtered
 filter parameter to filter weights (1st order low pass filter) More...
 
double m_w_rf_filtered
 filtered weight of the estimation coming from the left foot More...
 
double m_zmp_margin_lf
 sizes of the left foot (pos x, neg x, pos y, neg y) More...
 
double m_zmp_margin_rf
 margin used for computing zmp weight More...
 
double m_zmp_std_dev_lf
 standard deviation of ZMP measurement errors for right foot More...
 
double m_zmp_std_dev_rf
 weight of IMU for sensor fusion More...
 

Detailed Description

Definition at line 70 of file base-estimator.hh.

Constructor & Destructor Documentation

◆ BaseEstimator()

BaseEstimator ( const std::string &  name)

Definition at line 95 of file base-estimator.cpp.

Member Function Documentation

◆ compute_force_weight()

double compute_force_weight ( double  fz,
double  std_dev,
double  margin 
)

Definition at line 382 of file base-estimator.cpp.

◆ compute_zmp()

void compute_zmp ( const Vector6 &  w,
Vector2 &  zmp 
)

Definition at line 360 of file base-estimator.cpp.

◆ compute_zmp_weight()

double compute_zmp_weight ( const Vector2 &  zmp,
const Vector4 &  foot_sizes,
double  std_dev,
double  margin 
)

Definition at line 368 of file base-estimator.cpp.

◆ DECLARE_SIGNAL_IN() [1/14]

DECLARE_SIGNAL_IN ( accelerometer  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/14]

DECLARE_SIGNAL_IN ( dforceLLEG  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/14]

DECLARE_SIGNAL_IN ( dforceRLEG  ,
dynamicgraph::Vector   
)

derivative of left force torque sensor

◆ DECLARE_SIGNAL_IN() [4/14]

DECLARE_SIGNAL_IN ( forceLLEG  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [5/14]

DECLARE_SIGNAL_IN ( forceRLEG  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [6/14]

DECLARE_SIGNAL_IN ( gyroscope  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [7/14]

DECLARE_SIGNAL_IN ( imu_quaternion  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [8/14]

DECLARE_SIGNAL_IN ( joint_positions  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [9/14]

DECLARE_SIGNAL_IN ( joint_velocities  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [10/14]

DECLARE_SIGNAL_IN ( K_fb_feet_poses  ,
double   
)

weight of the estimation coming from the right foot

◆ DECLARE_SIGNAL_IN() [11/14]

DECLARE_SIGNAL_IN ( lf_ref_xyzquat  ,
dynamicgraph::Vector   
)

feed back gain to correct feet position according to last base estimation and kinematic

◆ DECLARE_SIGNAL_IN() [12/14]

DECLARE_SIGNAL_IN ( rf_ref_xyzquat  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [13/14]

DECLARE_SIGNAL_IN ( w_lf_in  ,
double   
)

derivative of right force torque sensor

◆ DECLARE_SIGNAL_IN() [14/14]

DECLARE_SIGNAL_IN ( w_rf_in  ,
double   
)

weight of the estimation coming from the left foot

◆ DECLARE_SIGNAL_INNER()

DECLARE_SIGNAL_INNER ( kinematics_computations  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/17]

DECLARE_SIGNAL_OUT ( a_ac  ,
dynamicgraph::Vector   
)

right foot pose

◆ DECLARE_SIGNAL_OUT() [2/17]

DECLARE_SIGNAL_OUT ( lf_xyzquat  ,
dynamicgraph::Vector   
)

6d robot velocities form gyroscope only (as if gyro measured the pure angular ankle velocities)

◆ DECLARE_SIGNAL_OUT() [3/17]

DECLARE_SIGNAL_OUT ( ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [4/17]

DECLARE_SIGNAL_OUT ( q_imu  ,
dynamicgraph::Vector   
)

n+6 robot configuration with base6d in RPY

◆ DECLARE_SIGNAL_OUT() [5/17]

DECLARE_SIGNAL_OUT ( q_lf  ,
dynamicgraph::Vector   
)

velocity of the base in the world with DC component removed

◆ DECLARE_SIGNAL_OUT() [6/17]

DECLARE_SIGNAL_OUT ( q_rf  ,
dynamicgraph::Vector   
)

n+6 robot configuration with base6d in RPY

◆ DECLARE_SIGNAL_OUT() [7/17]

DECLARE_SIGNAL_OUT ( rf_xyzquat  ,
dynamicgraph::Vector   
)

left foot pose

◆ DECLARE_SIGNAL_OUT() [8/17]

DECLARE_SIGNAL_OUT ( ,
dynamicgraph::Vector   
)

n+6 robot configuration with base6d in RPY

◆ DECLARE_SIGNAL_OUT() [9/17]

DECLARE_SIGNAL_OUT ( v_ac  ,
dynamicgraph::Vector   
)

acceleration of the base in the world with DC component removed

◆ DECLARE_SIGNAL_OUT() [10/17]

DECLARE_SIGNAL_OUT ( v_flex  ,
dynamicgraph::Vector   
)

6d robot velocities from kinematic only (encoders derivative)

◆ DECLARE_SIGNAL_OUT() [11/17]

DECLARE_SIGNAL_OUT ( v_gyr  ,
dynamicgraph::Vector   
)

6d robot velocities form imu only (accelerometer integration + gyro)

◆ DECLARE_SIGNAL_OUT() [12/17]

DECLARE_SIGNAL_OUT ( v_imu  ,
dynamicgraph::Vector   
)

6d robot velocities from flexibility only (force sensor derivative)

◆ DECLARE_SIGNAL_OUT() [13/17]

DECLARE_SIGNAL_OUT ( v_kin  ,
dynamicgraph::Vector   
)

n+6 robot velocities

◆ DECLARE_SIGNAL_OUT() [14/17]

DECLARE_SIGNAL_OUT ( w_lf  ,
double   
)

n+6 robot configuration with base6d in RPY

◆ DECLARE_SIGNAL_OUT() [15/17]

DECLARE_SIGNAL_OUT ( w_lf_filtered  ,
double   
)

weight of the estimation coming from the right foot

◆ DECLARE_SIGNAL_OUT() [16/17]

DECLARE_SIGNAL_OUT ( w_rf  ,
double   
)

weight of the estimation coming from the left foot

◆ DECLARE_SIGNAL_OUT() [17/17]

DECLARE_SIGNAL_OUT ( w_rf_filtered  ,
double   
)

filtered weight of the estimation coming from the left foot

◆ display()

void display ( std::ostream &  os) const
virtual

filtered weight of the estimation coming from the right foot

Definition at line 1044 of file base-estimator.cpp.

◆ init()

void init ( const double &  dt,
const std::string &  urdfFile 
)

Definition at line 229 of file base-estimator.cpp.

◆ kinematics_estimation()

void kinematics_estimation ( const Vector6 &  ft,
const Vector6 &  K,
const SE3 &  oMfs,
const int  foot_id,
SE3 &  oMff,
SE3 &  oMfa,
SE3 &  fsMff 
)

Definition at line 442 of file base-estimator.cpp.

◆ reset_foot_positions()

void reset_foot_positions ( )

Definition at line 305 of file base-estimator.cpp.

◆ reset_foot_positions_impl()

void reset_foot_positions_impl ( const Vector6 &  ftlf,
const Vector6 &  ftrf 
)

Definition at line 387 of file base-estimator.cpp.

◆ sendMsg()

void sendMsg ( const std::string &  msg,
MsgType  t = MSG_TYPE_INFO,
const char *  = "",
int  = 0 
)
inline

Definition at line 163 of file base-estimator.hh.

◆ set_alpha_DC_acc()

void set_alpha_DC_acc ( const double &  a)

Definition at line 295 of file base-estimator.cpp.

◆ set_alpha_DC_vel()

void set_alpha_DC_vel ( const double &  a)

Definition at line 300 of file base-estimator.cpp.

◆ set_alpha_w_filter()

void set_alpha_w_filter ( const double &  a)

Definition at line 290 of file base-estimator.cpp.

◆ set_fz_stable_windows_size()

void set_fz_stable_windows_size ( const int &  ws)

Definition at line 285 of file base-estimator.cpp.

◆ set_imu_weight()

void set_imu_weight ( const double &  w)

Definition at line 307 of file base-estimator.cpp.

◆ set_left_foot_sizes()

void set_left_foot_sizes ( const dynamicgraph::Vector &  s)

Definition at line 347 of file base-estimator.cpp.

◆ set_normal_force_margin_left_foot()

void set_normal_force_margin_left_foot ( const double &  margin)

Definition at line 358 of file base-estimator.cpp.

◆ set_normal_force_margin_right_foot()

void set_normal_force_margin_right_foot ( const double &  margin)

Definition at line 356 of file base-estimator.cpp.

◆ set_normal_force_std_dev_left_foot()

void set_normal_force_std_dev_left_foot ( const double &  std_dev)

Definition at line 337 of file base-estimator.cpp.

◆ set_normal_force_std_dev_right_foot()

void set_normal_force_std_dev_right_foot ( const double &  std_dev)

Definition at line 332 of file base-estimator.cpp.

◆ set_right_foot_sizes()

void set_right_foot_sizes ( const dynamicgraph::Vector &  s)

Definition at line 342 of file base-estimator.cpp.

◆ set_stiffness_left_foot()

void set_stiffness_left_foot ( const dynamicgraph::Vector &  k)

Definition at line 317 of file base-estimator.cpp.

◆ set_stiffness_right_foot()

void set_stiffness_right_foot ( const dynamicgraph::Vector &  k)

Definition at line 312 of file base-estimator.cpp.

◆ set_zmp_margin_left_foot()

void set_zmp_margin_left_foot ( const double &  margin)

Definition at line 354 of file base-estimator.cpp.

◆ set_zmp_margin_right_foot()

void set_zmp_margin_right_foot ( const double &  margin)

Definition at line 352 of file base-estimator.cpp.

◆ set_zmp_std_dev_left_foot()

void set_zmp_std_dev_left_foot ( const double &  std_dev)

Definition at line 327 of file base-estimator.cpp.

◆ set_zmp_std_dev_right_foot()

void set_zmp_std_dev_right_foot ( const double &  std_dev)

Definition at line 322 of file base-estimator.cpp.

Member Data Documentation

◆ m_a_ac

Vector3 m_a_ac
protected

velocity of the base in the world with DC component removed

Definition at line 201 of file base-estimator.hh.

◆ m_alpha_DC_acc

double m_alpha_DC_acc
protected

acceleration of the base in the world with DC component removed

Definition at line 203 of file base-estimator.hh.

◆ m_alpha_DC_vel

double m_alpha_DC_vel
protected

alpha parameter for DC blocker filter on acceleration data

Definition at line 204 of file base-estimator.hh.

◆ m_alpha_w_filter

double m_alpha_w_filter
protected

alpha parameter for DC blocker filter on velocity data

Definition at line 206 of file base-estimator.hh.

◆ m_data

pinocchio::Data* m_data
protected

Pinocchio robot model.

Definition at line 212 of file base-estimator.hh.

◆ m_dt

double m_dt
protected

true after the command resetFootPositions is called

Definition at line 170 of file base-estimator.hh.

◆ m_fz_margin_lf

double m_fz_margin_lf
protected

margin used for computing zmp weight

Definition at line 189 of file base-estimator.hh.

◆ m_fz_margin_rf

double m_fz_margin_rf
protected

margin used for computing normal force weight

Definition at line 190 of file base-estimator.hh.

◆ m_fz_stable_windows_size

int m_fz_stable_windows_size
protected

True if right foot as been stable for the last 'm_fz_stable_windows_size' samples.

Definition at line 175 of file base-estimator.hh.

◆ m_fz_std_dev_lf

double m_fz_std_dev_lf
protected

standard deviation of normal force measurement errors for right foot

Definition at line 184 of file base-estimator.hh.

◆ m_fz_std_dev_rf

double m_fz_std_dev_rf
protected

standard deviation of ZMP measurement errors for left foot

Definition at line 183 of file base-estimator.hh.

◆ m_IMU_body_id

pinocchio::FrameIndex m_IMU_body_id
protected

Definition at line 229 of file base-estimator.hh.

◆ m_initSucceeded

bool m_initSucceeded
protected

Definition at line 168 of file base-estimator.hh.

◆ m_isFirstIterFlag

bool m_isFirstIterFlag
protected

Normal distribution.

Definition at line 223 of file base-estimator.hh.

◆ m_K_lf

Vector6 m_K_lf
protected

6d stiffness of right foot spring

Definition at line 192 of file base-estimator.hh.

◆ m_K_rf

Vector6 m_K_rf
protected

margin used for computing normal force weight

Definition at line 191 of file base-estimator.hh.

◆ m_last_DCacc

Vector3 m_last_DCacc
protected

Definition at line 241 of file base-estimator.hh.

◆ m_last_DCvel

Vector3 m_last_DCvel
protected

Definition at line 240 of file base-estimator.hh.

◆ m_last_vel

Vector3 m_last_vel
protected

base orientation in the world

Definition at line 239 of file base-estimator.hh.

◆ m_left_foot_id

pinocchio::FrameIndex m_left_foot_id
protected

Definition at line 228 of file base-estimator.hh.

◆ m_left_foot_is_stable

bool m_left_foot_is_stable
protected

Definition at line 173 of file base-estimator.hh.

◆ m_left_foot_sizes

Vector4 m_left_foot_sizes
protected

standard deviation of normal force measurement errors for left foot

Definition at line 185 of file base-estimator.hh.

◆ m_lf_fz_stable_cpt

int m_lf_fz_stable_cpt
protected

size of the windows used to detect that feet did not leave the ground

Definition at line 176 of file base-estimator.hh.

◆ m_model

pinocchio::Model m_model
protected

filtered weight of the estimation coming from the right foot

Definition at line 211 of file base-estimator.hh.

◆ m_normal

normal m_normal
protected

Default reference for right foot pose to use if no ref is pluged.

Definition at line 221 of file base-estimator.hh.

◆ m_oMff_lf

pinocchio::SE3 m_oMff_lf
protected

Pinocchio robot data.

Definition at line 213 of file base-estimator.hh.

◆ m_oMff_rf

pinocchio::SE3 m_oMff_rf
protected

world-to-base transformation obtained through left foot

Definition at line 214 of file base-estimator.hh.

◆ m_oMlfs

SE3 m_oMlfs
protected

world-to-base transformation obtained through right foot

Definition at line 215 of file base-estimator.hh.

◆ m_oMlfs_default_ref

SE3 m_oMlfs_default_ref
protected

Definition at line 219 of file base-estimator.hh.

◆ m_oMlfs_xyzquat

Vector7 m_oMlfs_xyzquat
protected

transformation from world to right foot sole

Definition at line 217 of file base-estimator.hh.

◆ m_oMrfs

SE3 m_oMrfs
protected

transformation from world to left foot sole

Definition at line 216 of file base-estimator.hh.

◆ m_oMrfs_default_ref

SE3 m_oMrfs_default_ref
protected

Default reference for left foot pose to use if no ref is pluged.

Definition at line 220 of file base-estimator.hh.

◆ m_oMrfs_xyzquat

Vector7 m_oMrfs_xyzquat
protected

Definition at line 218 of file base-estimator.hh.

◆ m_oRchest

Matrix3 m_oRchest
protected

robot velocities according to SoT convention

Definition at line 235 of file base-estimator.hh.

◆ m_oRff

Matrix3 m_oRff
protected

chest orientation in the world from angular fusion

Definition at line 236 of file base-estimator.hh.

◆ m_q_pin

Eigen::VectorXd m_q_pin
protected

Definition at line 231 of file base-estimator.hh.

◆ m_q_sot

Eigen::VectorXd m_q_sot
protected

robot configuration according to pinocchio convention

Definition at line 232 of file base-estimator.hh.

◆ m_reset_foot_pos

bool m_reset_foot_pos
protected

true if the entity has been successfully initialized

Definition at line 169 of file base-estimator.hh.

◆ m_rf_fz_stable_cpt

int m_rf_fz_stable_cpt
protected

counter for detecting for how long the feet has been stable

Definition at line 177 of file base-estimator.hh.

◆ m_right_foot_id

pinocchio::FrameIndex m_right_foot_id
protected

foot sole to F/T sensor transformation

Definition at line 227 of file base-estimator.hh.

◆ m_right_foot_is_stable

bool m_right_foot_is_stable
protected

True if left foot as been stable for the last 'm_fz_stable_windows_size' samples.

Definition at line 174 of file base-estimator.hh.

◆ m_right_foot_sizes

Vector4 m_right_foot_sizes
protected

sizes of the left foot (pos x, neg x, pos y, neg y)

Definition at line 186 of file base-estimator.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

sampling time step

Definition at line 171 of file base-estimator.hh.

◆ m_sole_M_ftSens

SE3 m_sole_M_ftSens
protected

flag to detect first iteration and initialise velocity filters

Definition at line 225 of file base-estimator.hh.

◆ m_v_ac

Vector3 m_v_ac
protected

6d robot velocities form gyroscope only (as if gyro measured the pure angular ankle velocities)

Definition at line 200 of file base-estimator.hh.

◆ m_v_flex

Eigen::VectorXd m_v_flex
protected

6d robot velocities from kinematic only (encoders derivative)

Definition at line 195 of file base-estimator.hh.

◆ m_v_gyr

Eigen::VectorXd m_v_gyr
protected

6d robot velocities form imu only (accelerometer integration + gyro)

Definition at line 198 of file base-estimator.hh.

◆ m_v_imu

Eigen::VectorXd m_v_imu
protected

6d robot velocities from flexibility only (force sensor derivative)

Definition at line 196 of file base-estimator.hh.

◆ m_v_kin

Eigen::VectorXd m_v_kin
protected

6d stiffness of left foot spring

Definition at line 194 of file base-estimator.hh.

◆ m_v_pin

Eigen::VectorXd m_v_pin
protected

robot configuration according to SoT convention

Definition at line 233 of file base-estimator.hh.

◆ m_v_sot

Eigen::VectorXd m_v_sot
protected

robot velocities according to pinocchio convention

Definition at line 234 of file base-estimator.hh.

◆ m_w_imu

double m_w_imu
protected

counter for detecting for how long the feet has been stable

Definition at line 180 of file base-estimator.hh.

◆ m_w_lf_filtered

double m_w_lf_filtered
protected

filter parameter to filter weights (1st order low pass filter)

Definition at line 208 of file base-estimator.hh.

◆ m_w_rf_filtered

double m_w_rf_filtered
protected

filtered weight of the estimation coming from the left foot

Definition at line 209 of file base-estimator.hh.

◆ m_zmp_margin_lf

double m_zmp_margin_lf
protected

sizes of the left foot (pos x, neg x, pos y, neg y)

Definition at line 187 of file base-estimator.hh.

◆ m_zmp_margin_rf

double m_zmp_margin_rf
protected

margin used for computing zmp weight

Definition at line 188 of file base-estimator.hh.

◆ m_zmp_std_dev_lf

double m_zmp_std_dev_lf
protected

standard deviation of ZMP measurement errors for right foot

Definition at line 182 of file base-estimator.hh.

◆ m_zmp_std_dev_rf

double m_zmp_std_dev_rf
protected

weight of IMU for sensor fusion

Definition at line 181 of file base-estimator.hh.


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