StateEstimatorContainer< T > Class Template Reference

#include <StateEstimatorContainer.h>

Inheritance diagram for StateEstimatorContainer< T >:

Collaboration diagram for StateEstimatorContainer< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	StateEstimatorContainer (CheaterState< double > *cheaterState, VectorNavData *vectorNavData, LegControllerData< T > *legControllerData, StateEstimate< T > *stateEstimate, RobotControlParameters *parameters)
void	run (CheetahVisualization *visualization=nullptr)
const StateEstimate< T > &	getResult ()
void	setContactPhase (Vec4< T > &phase)
template<typename EstimatorToAdd >
void	addEstimator ()
template<typename EstimatorToRemove >
void	removeEstimator ()
void	removeAllEstimators ()
	~StateEstimatorContainer ()

Private Attributes
StateEstimatorData< T >	_data
std::vector< GenericEstimator< T > * >	_estimators
Vec4< T >	_phase

Detailed Description

template<typename T>
class StateEstimatorContainer< T >

Main State Estimator Class Contains all GenericEstimators

Definition at line 89 of file StateEstimatorContainer.h.

Constructor & Destructor Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW StateEstimatorContainer< T >::StateEstimatorContainer ( CheaterState< double > *  cheaterState, VectorNavData *  vectorNavData, LegControllerData< T > *  legControllerData, StateEstimate< T > *  stateEstimate, RobotControlParameters *  parameters  )

inline

Construct a new state estimator container

Definition at line 96 of file StateEstimatorContainer.h.

                                                              {
    _data.cheaterState = cheaterState;
    _data.vectorNavData = vectorNavData;
    _data.legControllerData = legControllerData;
    _data.result = stateEstimate;
    _phase = Vec4<T>::Zero();
    _data.contactPhase = &_phase;
    _data.parameters = parameters;
  }

template<typename T>

StateEstimatorContainer< T >::~StateEstimatorContainer ( )

inline

Definition at line 177 of file StateEstimatorContainer.h.

                             {
    for (auto estimator : _estimators) {
      delete estimator;
    }
  }

Member Function Documentation

template<typename T>

template<typename EstimatorToAdd >

void StateEstimatorContainer< T >::addEstimator ( )

inline

Add an estimator of the given type

Template Parameters

EstimatorToAdd

Definition at line 139 of file StateEstimatorContainer.h.

                      {
    auto* estimator = new EstimatorToAdd();
    estimator->setData(_data);
    estimator->setup();
    _estimators.push_back(estimator);
  }

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template<typename T>

const StateEstimate<T>& StateEstimatorContainer< T >::getResult ( )

inline

Get the result

Definition at line 127 of file StateEstimatorContainer.h.

{ return *_data.result; }

template<typename T>

void StateEstimatorContainer< T >::removeAllEstimators ( )

inline

Remove all estimators

Definition at line 170 of file StateEstimatorContainer.h.

                             {
    for (auto estimator : _estimators) {
      delete estimator;
    }
    _estimators.clear();
  }

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template<typename T>

template<typename EstimatorToRemove >

void StateEstimatorContainer< T >::removeEstimator ( )

inline

Remove all estimators of a given type

Template Parameters

EstimatorToRemove

Definition at line 151 of file StateEstimatorContainer.h.

                         {
    int nRemoved = 0;
    _estimators.erase(
        std::remove_if(_estimators.begin(), _estimators.end(),
                       [&nRemoved](GenericEstimator<T>* e) {
                         if (dynamic_cast<EstimatorToRemove*>(e)) {
                           delete e;
                           nRemoved++;
                           return true;
                         } else {
                           return false;
                         }
                       }),
        _estimators.end());
  }

template<typename T>

void StateEstimatorContainer< T >::run ( CheetahVisualization *  visualization = nullptr )

inline

Run all estimators

Definition at line 113 of file StateEstimatorContainer.h.

                                                          {
    for (auto estimator : _estimators) {
      estimator->run();
    }
    if (visualization) {
      visualization->quat = _data.result->orientation.template cast<float>();
      visualization->p = _data.result->position.template cast<float>();
      // todo contact!
    }
  }

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template<typename T>

void StateEstimatorContainer< T >::setContactPhase ( Vec4< T > &  phase )

inline

Set the contact phase

Definition at line 132 of file StateEstimatorContainer.h.

{ *_data.contactPhase = phase; }

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Member Data Documentation

template<typename T>

StateEstimatorData<T> StateEstimatorContainer< T >::_data

private

Definition at line 184 of file StateEstimatorContainer.h.

template<typename T>

std::vector<GenericEstimator<T>*> StateEstimatorContainer< T >::_estimators

private

Definition at line 185 of file StateEstimatorContainer.h.

template<typename T>

Vec4<T> StateEstimatorContainer< T >::_phase

private

Definition at line 186 of file StateEstimatorContainer.h.

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

• StateEstimatorContainer.h