Implement robot dynamics estimator - PR2 #662
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src/Estimators/tests/RobotDynamicsEstimator/ZeroVelocityDynamicsTest.cpp
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src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/JointVelocityStateDynamics.h
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src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/JointVelocityStateDynamics.h
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src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/Dynamics.h
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| * x_{k+1} = x_{k} | ||
| * \f] | ||
| */ | ||
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| class ConstantMeasurementModel : public Dynamics | ||
| { | ||
| UKFInput m_ukfInput; |
| * | `initial_covariance` | `vector` | Initial state covariances | Yes | | ||
| * | `dynamic_model` | `string` | Type of dynamic model describing the state dynamics. | Yes | | ||
| * | `elements` | `vector` | Vector of strings describing the list of sub variables composing the state associated to this dynamics.| No | | ||
| * | `dT` | `double` | Sampling time. | Yes | |
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| * | `dT` | `double` | Sampling time. | Yes | | |
| * | `dT` | `chrono::nanoseconds` | Sampling time. | Yes | |
| * x_{k+1} = x_{k} | ||
| * \f] | ||
| */ | ||
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| class ZeroVelocityStateDynamics : public Dynamics | ||
| { | ||
| UKFInput m_ukfInput; |
…tateDynamics process models and ConstantMeasurementModel.
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This PR implements the base class
Dynamicswhich can be extended to implement specific dynamics describing the process model and the measurement model. Together with this base class I already added two specific models:ZeroVelocityDynamicsdefines a dynamic model having a null first derivativeJointVelocityStateDynamicsdescribes the dynamic model of the robot joints.