AverageEstimator Class Reference

Public Member Functions
Construction
	AverageEstimator (Robot *const _robot)
virtual	~AverageEstimator ()
StateEstimator Overrides
virtual void	ApplyObservations (SensorInterface *const _sensor) override
Interface
void	SetState (const Cfg &_cfg, const std::vector< double > &_uncertainty)
void	ApplyControls (const ControlSet &_controls, const double _dt)
const Cfg &	GetEstimatedState () const
	Get the current state estimate.
const std::vector< double > &	GetUncertainty () const
	Get the uncertainty in the estimated state.

Static Public Member Functions
Construction
static std::unique_ptr< StateEstimator >	Factory (Robot *const _robot, XMLNode &_node)

Protected Attributes
Internal State
Get the covariance matrix for the state estimate. Todo: Figure out how to represent this.
Robot *const	m_robot
	The owning robot.
Cfg	m_estimatedState
	The current estimated state.
std::vector< double >	m_uncertainty
	Uncertainty in the current estimate.
bool	m_debug {false}
	The debug flag.

Detailed Description

Extension of a state estimator object, which will average all sensor readings and update a robot's state according to this average.

Constructor & Destructor Documentation

AverageEstimator()

AverageEstimator::AverageEstimator

(

Robot *const

_robot

)

Parameters

_robot

Robot for the state estimator

Member Function Documentation

ApplyObservations()

void AverageEstimator::ApplyObservations ( SensorInterface *const  _sensor )

overridevirtual

Apply the most recent observations from a sensor to the current estimated state.

Parameters

_sensor

The sensor to take observations from.

Implements StateEstimator.

Factory()

std::unique_ptr< StateEstimator > StateEstimator::Factory ( Robot *const  _robot, XMLNode &  _node  )

staticinherited

Create a dynamically-allocated state estimator from an XML node.

Parameters

_robot	The robot which this state estimator will work for.
_node	The XML node to parse.

Returns

A state estimator of the type specified by _node.

SetState()

void StateEstimator::SetState ( const Cfg &  _cfg, const std::vector< double > &  _uncertainty  )

inherited

Set the current state and uncertainty.

Parameters

_cfg	The state to set.
_uncertainty	The uncertainty in _cfg.

ApplyControls()

void StateEstimator::ApplyControls ( const ControlSet &  _controls, const double  _dt  )

inherited

Apply a set of controls to the current estimated state.

Note

The Actuator class should define the force/velocity uncertainty, if any.

Parameters

_controls	The set of controls to apply.
_dt	The length of time to apply the controls.

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

• AverageEstimator.h
• AverageEstimator.cpp