Kinematics-only floating-base observer. More...

#include <lipm_walking/FloatingBaseObserver.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FloatingBaseObserver (const mc_rbdyn::Robot &controlRobot)
	Initialize floating base observer. More...

sva::PTransformd	getAnchorFrame (const mc_rbdyn::Robot &robot)
	Get anchor frame of a robot for a given contact state. More...

void	reset (const sva::PTransformd &X_0_fb)
	Reset floating base estimate. More...

void	run (const mc_rbdyn::Robot &realRobot)
	Update floating-base transform of real robot. More...

void	updateRobot (mc_rbdyn::Robot &robot)
	Write observed floating-base transform to the robot's configuration. More...

const Eigen::Quaterniond &	imuOrientation ()
	Get the orientation of the IMU with respect to the inertial frame. More...

void	leftFootRatio (double ratio)
	Set fraction of total weight sustained by the left foot. More...

Detailed Description

Kinematics-only floating-base observer.

See https://scaron.info/robot-locomotion/floating-base-estimation.html for technical details on the derivation of this simple estimator.

Definition at line 43 of file FloatingBaseObserver.h.

Constructor & Destructor Documentation

lipm_walking::FloatingBaseObserver::FloatingBaseObserver ( const mc_rbdyn::Robot & controlRobot )

Initialize floating base observer.

Parameters

controlRobot Robot reference.

Definition at line 36 of file FloatingBaseObserver.cpp.

Member Function Documentation

sva::PTransformd lipm_walking::FloatingBaseObserver::getAnchorFrame ( const mc_rbdyn::Robot & robot )

Get anchor frame of a robot for a given contact state.

Parameters

robot Robot state to read frames from.

The anchor frame is a weighted average of foot frames ("LeftFoot" or "RightFoot") over the feet currently in contact. In single support, in thus coincides with the foot frame. In double support, it interpolates from one support foot to the next following the left foot ratio.

See also: leftFootRatio

Definition at line 78 of file FloatingBaseObserver.cpp.

const Eigen::Quaterniond& lipm_walking::FloatingBaseObserver::imuOrientation ( )

inline

Get the orientation of the IMU with respect to the inertial frame.

Note: Although this estimation is currently stored in the body sensor of the control robot, it is an actual sensor reading.

Definition at line 93 of file FloatingBaseObserver.h.

void lipm_walking::FloatingBaseObserver::leftFootRatio ( double ratio )

inline

Set fraction of total weight sustained by the left foot.

Note: This field is used in anchor frame computations.

Definition at line 103 of file FloatingBaseObserver.h.

void lipm_walking::FloatingBaseObserver::reset ( const sva::PTransformd & X_0_fb )

Reset floating base estimate.

Parameters

X_0_fb New floating-base transform.

Definition at line 38 of file FloatingBaseObserver.cpp.

void lipm_walking::FloatingBaseObserver::run ( const mc_rbdyn::Robot & realRobot )

Update floating-base transform of real robot.

Parameters

realRobot Measured robot state, to be updated.

Definition at line 44 of file FloatingBaseObserver.cpp.

void lipm_walking::FloatingBaseObserver::updateRobot ( mc_rbdyn::Robot & robot )

Write observed floating-base transform to the robot's configuration.

Parameters

robot Robot state to write to.

Definition at line 85 of file FloatingBaseObserver.cpp.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation