A state estimator that integrates information from accelerometers (i.e., an Inertial Measurement Unit) and gravity sensors. More...
#include <StateEstimator.h>
Inheritance diagram for Klampt::IntegratedStateEstimator:
Public Member Functions | |
| IntegratedStateEstimator (RobotModel &_robot) | |
| virtual void | ReadSensors (RobotSensors &sensors) override |
| virtual void | UpdateModel () override |
| virtual void | ReadCommand (const RobotMotorCommand &command) override |
| virtual void | Advance (Real dt) override |
| virtual void | Reset () override |
| void | SetDDQ (const Vector &ddq) |
 Public Member Functions inherited from Klampt::RobotStateEstimator | |
| RobotStateEstimator (RobotModel &_robot) | |
Public Attributes | |
| Real | last_dt |
| Vector | q_predicted |
| Vector | dq_predicted |
| Vector | ddq_predicted |
| Vector | q_sensed |
| Vector | dq_sensed |
| vector< RigidTransform > | accelerometerFrames |
| vector< RigidBodyVelocity > | accelerometerVels |
| Public Attributes inherited from Klampt::RobotStateEstimator | |
| RobotModel & | robot |
Detailed Description
A state estimator that integrates information from accelerometers (i.e., an Inertial Measurement Unit) and gravity sensors.
It may also integrate a predicted acceleration ddq_predicted through time, although this is not as accurate as a Kalman filter.
The documentation for this struct was generated from the following file:
