A generic state estimator base class. Base class does nothing. More...
#include <StateEstimator.h>
Inheritance diagram for RobotStateEstimator:
Public Member Functions | |
| RobotStateEstimator (Robot &_robot) | |
| virtual void | ReadSensors (RobotSensors &sensors) |
| virtual void | UpdateModel () |
| virtual void | ReadCommand (const RobotMotorCommand &command) |
| virtual void | Advance (Real dt) |
| virtual void | Reset () |
Public Attributes | |
| Robot & | robot |
Detailed Description
A generic state estimator base class. Base class does nothing.
Typical state estimators will update the robot state (q,dq, frames) for the given sensor input. They may also do more sophisticated things, like calibrate the robot limb lengths, dynamic parameters, or even a world model.
The typical state estimation loop is ReadSensors, UpdateModel, ReadCommand, Advance. To use these in a RobotController, call this sequence manually.
The documentation for this struct was generated from the following file:
