1 #ifndef STATE_ESTIMATOR_H 2 #define STATE_ESTIMATOR_H 5 #include <Klampt/Control/Command.h> 6 #include <Klampt/Modeling/Robot.h> 7 #include <KrisLibrary/robotics/Wrench.h> 27 virtual void UpdateModel() {}
29 virtual void Advance(Real dt) {}
30 virtual void Reset() {}
44 virtual void UpdateModel();
61 virtual void UpdateModel() {
62 robot.UpdateConfig(q_predicted);
63 robot.dq = dq_predicted;
66 virtual void Advance(Real dt);
70 void SetDDQ(
const Vector& ddq) { ddq_predicted = ddq; }
73 Vector q_predicted,dq_predicted,ddq_predicted;
74 Vector q_sensed,dq_sensed;
76 vector<RigidTransform> accelerometerFrames;
77 vector<RigidBodyVelocity> accelerometerVels;
A robot simulated in an ODE "world".
Definition: ODERobot.h:28
The main robot type used in RobotSim.
Definition: Robot.h:79
A collection of basic motor types.
Definition: Command.h:43
A generic state estimator base class. Base class does nothing.
Definition: StateEstimator.h:22
A state estimator will full knowledge of the robot's simulated state. An ODERobot must be provided at...
Definition: StateEstimator.h:39
A set of sensors for the robot.
Definition: Sensor.h:106
A state estimator that integrates information from accelerometers (i.e., an Inertial Measurement Unit...
Definition: StateEstimator.h:56