QuadEstimator Class Reference

#include <sot/torque_control/utils/quad-estimator.hh>

Inheritance diagram for QuadEstimator:

Collaboration diagram for QuadEstimator:

Public Member Functions
	QuadEstimator (const unsigned int &N, const unsigned int &dim, const double &dt=0.0)
virtual void	estimate (std::vector< double > &estimee, const std::vector< double > &el)
virtual void	estimateRecursive (std::vector< double > &estimee, const std::vector< double > &el, const double &time)
virtual void	getEstimateDerivative (std::vector< double > &estimeeDerivative, const unsigned int order)
Public Member Functions inherited from PolyEstimator
	PolyEstimator (const unsigned int &order, const unsigned int &N, const double &dt)
void	estimate (std::vector< double > &estimee, const std::vector< double > &data_element, const double &time)
unsigned int	getWindowLength ()
void	setWindowLength (const unsigned int &N)

Additional Inherited Members
Protected Attributes inherited from PolyEstimator
Eigen::VectorXd	coeff_
	Coefficients for the least squares solution. More...
double	dt_
	Sampling (control) time. More...
bool	dt_zero_
	Indicate that dt is zero (dt is invalid) More...
std::vector< std::vector< double > >	elem_list_
	All the data (N elements of size dim) More...
bool	first_run_
unsigned int	N_
	Window length. More...
unsigned int	order_
	Order of the polynomial estimator. More...
unsigned int	pt_
	Circular index to each data and time element. More...
Eigen::MatrixXd	R_
std::vector< double >	t_
	Time vector setting the lowest time to zero (for numerical stability). More...
std::vector< double >	time_list_
	Time vector corresponding to each element in elem_list_. More...
std::vector< double >	x_

Detailed Description

Object to fit a quadratic polynomial to a given data. This can be used to compute the accelerations given the positions.

Definition at line 17 of file quad-estimator.hh.

Constructor & Destructor Documentation

QuadEstimator()

QuadEstimator	(	const unsigned int &	N,
		const unsigned int &	dim,
		const double &	dt = 0.0
	)

Create a quadratic estimator on a window of length N

Parameters

N	is the window length.
dim	is the dimension of the input elements (number of dofs).
dt	is the control (sampling) time.

Definition at line 10 of file quad-estimator.cpp.

Member Function Documentation

estimate()

void estimate ( std::vector< double > &  estimee, const std::vector< double > &  data_element  )

virtual

Estimate the polynomial given a new element assuming a constant time difference. This constant time difference between consecutive samples is given by dt (specified in the constructor).
Note: This function will only work if dt is different to zero.

Parameters

[out]	estimee	is the calculated estimation.
[in]	data_element	is the new data vector.

Implements PolyEstimator.

Definition at line 199 of file quad-estimator.cpp.

estimateRecursive()

void estimateRecursive ( std::vector< double > &  estimee, const std::vector< double > &  data_element, const double &  time  )

virtual

Estimate the polynomial given a new element using a recursive algorithm. This method is faster. However, it takes the time as it is (it does not set the lowest time to zero), which can create "ill-conditions".

Parameters

[out]	estimee	is the calculated estimation
[in]	data_element	is the new data.
[in]	time	is the time stamp corresponding to the new data.

Implements PolyEstimator.

Definition at line 69 of file quad-estimator.cpp.

getEstimateDerivative()

void getEstimateDerivative ( std::vector< double > &  estimeeDerivative, const unsigned int  order  )

virtual

Get the time derivative of the estimated polynomial.

Parameters

[out]	estimeeDerivative	is the calculated time derivative.
[in]	order	The order of the derivative (e.g. 1 means the first derivative).

Implements PolyEstimator.

Definition at line 248 of file quad-estimator.cpp.

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

• include/sot/torque_control/utils/quad-estimator.hh
• src/quad-estimator.cpp