#include <sot/talos_balance/talos-base-estimator.hh>

Inheritance diagram for TalosBaseEstimator:

Collaboration diagram for TalosBaseEstimator:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TalosBaseEstimator (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)

	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)

	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)

	DECLARE_SIGNAL_OUT (v_flex, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (v_gyr, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (v_imu, dynamicgraph::Vector)

	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 pinocchio::FrameIndex foot_id, SE3 &oMff, SE3 &oMfa, SE3 &fsMff)

void	reset_foot_positions ()

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

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

double	m_alpha_DC_vel

double	m_alpha_w_filter

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

double	m_fz_std_dev_lf

double	m_fz_std_dev_rf

pinocchio::FrameIndex	m_IMU_frame_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

int	m_lf_fz_stable_cpt

pinocchio::Model	m_model

normal	m_normal

pinocchio::SE3	m_oMff_lf
	chest to imu transformation 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

Vector7	m_oMrfs_xyzquat

Matrix3	m_oRff
	chest orientation in the world from angular fusion More...

Matrix3	m_oRtorso
	robot velocities according to SoT convention 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

pinocchio::FrameIndex	m_right_foot_id
	foot sole to F/T sensor transformation More...

bool	m_right_foot_is_stable

Vector4	m_right_foot_sizes

RobotUtilShrPtr	m_robot_util
	sampling time step More...

SE3	m_sole_M_ftSens

pinocchio::FrameIndex	m_torso_id

pinocchio::SE3	m_torsoMimu
	Pinocchio robot data. More...

Vector3	m_v_ac

Eigen::VectorXd	m_v_flex

Eigen::VectorXd	m_v_gyr

Eigen::VectorXd	m_v_imu

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

double	m_w_lf_filtered

double	m_w_rf_filtered

double	m_zmp_margin_lf

double	m_zmp_margin_rf
	margin used for computing zmp weight More...

double	m_zmp_std_dev_lf

double	m_zmp_std_dev_rf
	weight of IMU for sensor fusion More...

Detailed Description

Definition at line 89 of file talos-base-estimator.hh.

Constructor & Destructor Documentation

◆ TalosBaseEstimator()

TalosBaseEstimator ( const std::string & name )

Definition at line 174 of file talos-base-estimator.cpp.

Member Function Documentation

◆ compute_force_weight()

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

Definition at line 572 of file talos-base-estimator.cpp.

◆ compute_zmp()

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

Definition at line 543 of file talos-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 551 of file talos-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	(	q	,
		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	(	v	,
		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 1383 of file talos-base-estimator.cpp.

◆ init()

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

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

◆ kinematics_estimation()

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

Definition at line 640 of file talos-base-estimator.cpp.

◆ reset_foot_positions()

void reset_foot_positions ( )

Definition at line 453 of file talos-base-estimator.cpp.

◆ reset_foot_positions_impl()

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

Definition at line 578 of file talos-base-estimator.cpp.

◆ set_alpha_DC_acc()

void set_alpha_DC_acc ( const double & a )

Definition at line 441 of file talos-base-estimator.cpp.

◆ set_alpha_DC_vel()

void set_alpha_DC_vel ( const double & a )

Definition at line 447 of file talos-base-estimator.cpp.

◆ set_alpha_w_filter()

void set_alpha_w_filter ( const double & a )

Definition at line 435 of file talos-base-estimator.cpp.

◆ set_fz_stable_windows_size()

void set_fz_stable_windows_size ( const int & ws )

Definition at line 428 of file talos-base-estimator.cpp.

◆ set_imu_weight()

void set_imu_weight ( const double & w )

Definition at line 455 of file talos-base-estimator.cpp.

◆ set_left_foot_sizes()

void set_left_foot_sizes ( const dynamicgraph::Vector & s )

Definition at line 517 of file talos-base-estimator.cpp.

◆ set_normal_force_margin_left_foot()

void set_normal_force_margin_left_foot ( const double & margin )

Definition at line 538 of file talos-base-estimator.cpp.

◆ set_normal_force_margin_right_foot()

void set_normal_force_margin_right_foot ( const double & margin )

Definition at line 533 of file talos-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 501 of file talos-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 493 of file talos-base-estimator.cpp.

◆ set_right_foot_sizes()

void set_right_foot_sizes ( const dynamicgraph::Vector & s )

Definition at line 509 of file talos-base-estimator.cpp.

◆ set_stiffness_left_foot()

void set_stiffness_left_foot ( const dynamicgraph::Vector & k )

Definition at line 470 of file talos-base-estimator.cpp.

◆ set_stiffness_right_foot()

void set_stiffness_right_foot ( const dynamicgraph::Vector & k )

Definition at line 461 of file talos-base-estimator.cpp.

◆ set_zmp_margin_left_foot()

void set_zmp_margin_left_foot ( const double & margin )

Definition at line 529 of file talos-base-estimator.cpp.

◆ set_zmp_margin_right_foot()

void set_zmp_margin_right_foot ( const double & margin )

Definition at line 525 of file talos-base-estimator.cpp.

◆ set_zmp_std_dev_left_foot()

void set_zmp_std_dev_left_foot ( const double & std_dev )

Definition at line 486 of file talos-base-estimator.cpp.

◆ set_zmp_std_dev_right_foot()

void set_zmp_std_dev_right_foot ( const double & std_dev )

Definition at line 479 of file talos-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 268 of file talos-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 271 of file talos-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 273 of file talos-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 276 of file talos-base-estimator.hh.

◆ m_data

pinocchio::Data* m_data

protected

Pinocchio robot model.

Definition at line 285 of file talos-base-estimator.hh.

◆ m_dt

double m_dt

protected

true after the command resetFootPositions is called

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

◆ m_fz_margin_lf

double m_fz_margin_lf

protected

margin used for computing zmp weight

Definition at line 252 of file talos-base-estimator.hh.

◆ m_fz_margin_rf

double m_fz_margin_rf

protected

margin used for computing normal force weight

Definition at line 253 of file talos-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 230 of file talos-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 244 of file talos-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 242 of file talos-base-estimator.hh.

◆ m_IMU_frame_id

pinocchio::FrameIndex m_IMU_frame_id

protected

Definition at line 309 of file talos-base-estimator.hh.

◆ m_initSucceeded

bool m_initSucceeded

protected

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

◆ m_isFirstIterFlag

bool m_isFirstIterFlag

protected

Normal distribution.

Definition at line 301 of file talos-base-estimator.hh.

◆ m_K_lf

Vector6 m_K_lf

protected

6d stiffness of right foot spring

Definition at line 255 of file talos-base-estimator.hh.

◆ m_K_rf

Vector6 m_K_rf

protected

margin used for computing normal force weight

Definition at line 254 of file talos-base-estimator.hh.

◆ m_last_DCacc

Vector3 m_last_DCacc

protected

Definition at line 322 of file talos-base-estimator.hh.

◆ m_last_DCvel

Vector3 m_last_DCvel

protected

Definition at line 321 of file talos-base-estimator.hh.

◆ m_last_vel

Vector3 m_last_vel

protected

base orientation in the world

Definition at line 320 of file talos-base-estimator.hh.

◆ m_left_foot_id

pinocchio::FrameIndex m_left_foot_id

protected

Definition at line 307 of file talos-base-estimator.hh.

◆ m_left_foot_is_stable

bool m_left_foot_is_stable

protected

Definition at line 226 of file talos-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 246 of file talos-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 232 of file talos-base-estimator.hh.

◆ m_model

pinocchio::Model m_model

protected

filtered weight of the estimation coming from the right foot

Definition at line 284 of file talos-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 299 of file talos-base-estimator.hh.

◆ m_oMff_lf

pinocchio::SE3 m_oMff_lf

protected

chest to imu transformation

Definition at line 288 of file talos-base-estimator.hh.

◆ m_oMff_rf

pinocchio::SE3 m_oMff_rf

protected

world-to-base transformation obtained through left foot

Definition at line 290 of file talos-base-estimator.hh.

◆ m_oMlfs

SE3 m_oMlfs

protected

world-to-base transformation obtained through right foot

Definition at line 291 of file talos-base-estimator.hh.

◆ m_oMlfs_default_ref

SE3 m_oMlfs_default_ref

protected

Definition at line 295 of file talos-base-estimator.hh.

◆ m_oMlfs_xyzquat

Vector7 m_oMlfs_xyzquat

protected

transformation from world to right foot sole

Definition at line 293 of file talos-base-estimator.hh.

◆ m_oMrfs

SE3 m_oMrfs

protected

transformation from world to left foot sole

Definition at line 292 of file talos-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 297 of file talos-base-estimator.hh.

◆ m_oMrfs_xyzquat

Vector7 m_oMrfs_xyzquat

protected

Definition at line 294 of file talos-base-estimator.hh.

◆ m_oRff

Matrix3 m_oRff

protected

chest orientation in the world from angular fusion

Definition at line 317 of file talos-base-estimator.hh.

◆ m_oRtorso

Matrix3 m_oRtorso

protected

robot velocities according to SoT convention

Definition at line 316 of file talos-base-estimator.hh.

◆ m_q_pin

Eigen::VectorXd m_q_pin

protected

Definition at line 311 of file talos-base-estimator.hh.

◆ m_q_sot

Eigen::VectorXd m_q_sot

protected

robot configuration according to pinocchio convention

Definition at line 312 of file talos-base-estimator.hh.

◆ m_reset_foot_pos

bool m_reset_foot_pos

protected

true if the entity has been successfully initialized

Definition at line 222 of file talos-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 234 of file talos-base-estimator.hh.

◆ m_right_foot_id

pinocchio::FrameIndex m_right_foot_id

protected

foot sole to F/T sensor transformation

Definition at line 306 of file talos-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 228 of file talos-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 248 of file talos-base-estimator.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util

protected

sampling time step

Definition at line 224 of file talos-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 304 of file talos-base-estimator.hh.

◆ m_torso_id

pinocchio::FrameIndex m_torso_id

protected

Definition at line 308 of file talos-base-estimator.hh.

◆ m_torsoMimu

pinocchio::SE3 m_torsoMimu

protected

Pinocchio robot data.

Definition at line 286 of file talos-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 267 of file talos-base-estimator.hh.

◆ m_v_flex

Eigen::VectorXd m_v_flex

protected

6d robot velocities from kinematic only (encoders derivative)

Definition at line 259 of file talos-base-estimator.hh.

◆ m_v_gyr

Eigen::VectorXd m_v_gyr

protected

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

Definition at line 263 of file talos-base-estimator.hh.

◆ m_v_imu

Eigen::VectorXd m_v_imu

protected

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

Definition at line 261 of file talos-base-estimator.hh.

◆ m_v_kin

Eigen::VectorXd m_v_kin

protected

6d stiffness of left foot spring

Definition at line 257 of file talos-base-estimator.hh.

◆ m_v_pin

Eigen::VectorXd m_v_pin

protected

robot configuration according to SoT convention

Definition at line 314 of file talos-base-estimator.hh.

◆ m_v_sot

Eigen::VectorXd m_v_sot

protected

robot velocities according to pinocchio convention

Definition at line 315 of file talos-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 237 of file talos-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 279 of file talos-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 281 of file talos-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 250 of file talos-base-estimator.hh.

◆ m_zmp_margin_rf

double m_zmp_margin_rf

protected

margin used for computing zmp weight

Definition at line 251 of file talos-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 240 of file talos-base-estimator.hh.

◆ m_zmp_std_dev_rf

double m_zmp_std_dev_rf

protected

weight of IMU for sensor fusion

Definition at line 238 of file talos-base-estimator.hh.

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

include/sot/talos_balance/talos-base-estimator.hh
src/talos-base-estimator.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TalosBaseEstimator()

Member Function Documentation

◆ compute_force_weight()

◆ compute_zmp()

◆ compute_zmp_weight()

◆ DECLARE_SIGNAL_IN() [1/14]

◆ DECLARE_SIGNAL_IN() [2/14]

◆ DECLARE_SIGNAL_IN() [3/14]

◆ DECLARE_SIGNAL_IN() [4/14]

◆ DECLARE_SIGNAL_IN() [5/14]

◆ DECLARE_SIGNAL_IN() [6/14]

◆ DECLARE_SIGNAL_IN() [7/14]

◆ DECLARE_SIGNAL_IN() [8/14]

◆ DECLARE_SIGNAL_IN() [9/14]

◆ DECLARE_SIGNAL_IN() [10/14]

◆ DECLARE_SIGNAL_IN() [11/14]

◆ DECLARE_SIGNAL_IN() [12/14]

◆ DECLARE_SIGNAL_IN() [13/14]

◆ DECLARE_SIGNAL_IN() [14/14]

◆ DECLARE_SIGNAL_INNER()

◆ DECLARE_SIGNAL_OUT() [1/17]

◆ DECLARE_SIGNAL_OUT() [2/17]

◆ DECLARE_SIGNAL_OUT() [3/17]

◆ DECLARE_SIGNAL_OUT() [4/17]

◆ DECLARE_SIGNAL_OUT() [5/17]

◆ DECLARE_SIGNAL_OUT() [6/17]

◆ DECLARE_SIGNAL_OUT() [7/17]

◆ DECLARE_SIGNAL_OUT() [8/17]

◆ DECLARE_SIGNAL_OUT() [9/17]

◆ DECLARE_SIGNAL_OUT() [10/17]

◆ DECLARE_SIGNAL_OUT() [11/17]

◆ DECLARE_SIGNAL_OUT() [12/17]

◆ DECLARE_SIGNAL_OUT() [13/17]

◆ DECLARE_SIGNAL_OUT() [14/17]

◆ DECLARE_SIGNAL_OUT() [15/17]

◆ DECLARE_SIGNAL_OUT() [16/17]

◆ DECLARE_SIGNAL_OUT() [17/17]

◆ display()

◆ init()

◆ kinematics_estimation()

◆ reset_foot_positions()

◆ reset_foot_positions_impl()

◆ set_alpha_DC_acc()

◆ set_alpha_DC_vel()

◆ set_alpha_w_filter()

◆ set_fz_stable_windows_size()

◆ set_imu_weight()

◆ set_left_foot_sizes()

◆ set_normal_force_margin_left_foot()

◆ set_normal_force_margin_right_foot()

◆ set_normal_force_std_dev_left_foot()

◆ set_normal_force_std_dev_right_foot()

◆ set_right_foot_sizes()

◆ set_stiffness_left_foot()

◆ set_stiffness_right_foot()

◆ set_zmp_margin_left_foot()

◆ set_zmp_margin_right_foot()

◆ set_zmp_std_dev_left_foot()

◆ set_zmp_std_dev_right_foot()

Member Data Documentation

◆ m_a_ac

◆ m_alpha_DC_acc

◆ m_alpha_DC_vel

◆ m_alpha_w_filter

◆ m_data

◆ m_dt

◆ m_fz_margin_lf

◆ m_fz_margin_rf

◆ m_fz_stable_windows_size

◆ m_fz_std_dev_lf

◆ m_fz_std_dev_rf

◆ m_IMU_frame_id

◆ m_initSucceeded

◆ m_isFirstIterFlag

◆ m_K_lf

◆ m_K_rf