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

Inheritance diagram for PolyEstimator:

Public Member Functions
	PolyEstimator (const unsigned int &order, const unsigned int &N, const double &dt)

virtual void	estimate (std::vector< double > &estimee, const std::vector< double > &data_element)=0

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

virtual void	estimateRecursive (std::vector< double > &estimee, const std::vector< double > &data_element, const double &time)=0

virtual void	getEstimateDerivative (std::vector< double > &estimeeDerivative, const unsigned int order)=0

unsigned int	getWindowLength ()

void	setWindowLength (const unsigned int &N)

Protected Member Functions
virtual void	fit ()

virtual double	getEsteeme ()=0

Protected Attributes
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 polynomial of a given order. It provides a generic fitting polynomial of any order. However, it cannot be used by itself since the proper coefficient of the polynomial (which represents the estimation) needs to be specified. Moreover, the derived classes implement a faster computation based on the specific case.

Definition at line 30 of file poly-estimator.hh.

Constructor & Destructor Documentation

◆ PolyEstimator()

PolyEstimator	(	const unsigned int &	order,
		const unsigned int &	N,
		const double &	dt
	)

Create a polynomial estimator on a window of length N

Parameters

order	is the order of the polynomial estimator.
N	is the window length.
dt	is the control (sampling) time

Definition at line 26 of file poly-estimator.cpp.

Member Function Documentation

◆ estimate() [1/2]

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

pure 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.

Implemented in QuadEstimator, and LinEstimator.

◆ estimate() [2/2]

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

Estimate the generic polynomial given a new element. The order of the polynomial is specified in the constructor. Note that this function can be slow if no specialization of fit() has been done, since the generic algorithm would be used.

Parameters

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

Definition at line 41 of file poly-estimator.cpp.

◆ estimateRecursive()

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

pure 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.

Implemented in QuadEstimator, and LinEstimator.

◆ fit()

void fit ( )

protectedvirtual

Find the regressor which best fits in least square sense the last N data sample couples. The order of the regressor is given in the constructor.

Definition at line 91 of file poly-estimator.cpp.

◆ getEsteeme()

virtual double getEsteeme ( )

protectedpure virtual

Get the estimation when using the generic fit function (in poly-estimator)

◆ getEstimateDerivative()

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

pure 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).

Implemented in QuadEstimator, and LinEstimator.

◆ getWindowLength()

unsigned int getWindowLength ( )

Get the size of the filter window.

Returns: Size

Definition at line 109 of file poly-estimator.cpp.

◆ setWindowLength()

void setWindowLength ( const unsigned int & N )

Set the size of the filter window.

Parameters

[in] N size

Definition at line 107 of file poly-estimator.cpp.

Member Data Documentation

◆ coeff_

Eigen::VectorXd coeff_

protected

Coefficients for the least squares solution.

Definition at line 135 of file poly-estimator.hh.

◆ dt_

double dt_

protected

Sampling (control) time.

Definition at line 116 of file poly-estimator.hh.

◆ dt_zero_

bool dt_zero_

protected

Indicate that dt is zero (dt is invalid)

Definition at line 119 of file poly-estimator.hh.

◆ elem_list_

std::vector<std::vector<double> > elem_list_

protected

All the data (N elements of size dim)

Definition at line 126 of file poly-estimator.hh.

◆ first_run_

bool first_run_

protected

Indicate that there are not enough elements to compute. The reason is that it is one of the first runs, and the estimate will be zero.

Definition at line 123 of file poly-estimator.hh.

◆ N_

unsigned int N_

protected

Window length.

Definition at line 113 of file poly-estimator.hh.

◆ order_

unsigned int order_

protected

Order of the polynomial estimator.

Definition at line 110 of file poly-estimator.hh.

◆ pt_

unsigned int pt_

protected

Circular index to each data and time element.

Definition at line 132 of file poly-estimator.hh.

◆ R_

Eigen::MatrixXd R_

protected

Matrix containing time components. It is only used for the generic fit computation, such that the estimation is \(c = R^{\#} x\), where \(x\) is the data vector.

Definition at line 147 of file poly-estimator.hh.

◆ t_

std::vector<double> t_

protected

Time vector setting the lowest time to zero (for numerical stability).

Definition at line 138 of file poly-estimator.hh.

◆ time_list_

std::vector<double> time_list_

protected

Time vector corresponding to each element in elem_list_.

Definition at line 129 of file poly-estimator.hh.

◆ x_

std::vector<double> x_

protected

Data vector for a single dimension (a single dof). It is only one 'column' of the elem_list_ 'matrix'

Definition at line 142 of file poly-estimator.hh.

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

include/sot/torque_control/utils/poly-estimator.hh
src/poly-estimator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PolyEstimator()

Member Function Documentation

◆ estimate() [1/2]

◆ estimate() [2/2]

◆ estimateRecursive()

◆ fit()

◆ getEsteeme()

◆ getEstimateDerivative()

◆ getWindowLength()

◆ setWindowLength()

Member Data Documentation

◆ coeff_

◆ dt_

◆ dt_zero_

◆ elem_list_

◆ first_run_

◆ N_

◆ order_

◆ pt_

◆ R_

◆ t_

◆ time_list_

◆ x_