BerdySparseMAPSolver class
#include <iDynTree/BerdySparseMAPSolver.h>
Constructors, destructors, conversion operators
- BerdySparseMAPSolver(BerdyHelper& berdyHelper)
- ~BerdySparseMAPSolver()
Public functions
-
void setDynamicsConstraintsPriorCovariance(const iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& covariance) -
void setDynamicsRegularizationPriorCovariance(const iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& covariance) -
void setDynamicsRegularizationPriorExpectedValue(const iDynTree::
VectorDynSize& expectedValue) -
void setMeasurementsPriorCovariance(const iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& covariance) -
auto dynamicsConstraintsPriorCovarianceInverse() const -> const iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& -
auto dynamicsConstraintsPriorCovarianceInverse() -> iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& -
auto dynamicsRegularizationPriorCovarianceInverse() const -> const iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& -
auto dynamicsRegularizationPriorCovarianceInverse() -> iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& -
auto dynamicsRegularizationPriorExpectedValue() const -> const iDynTree::
VectorDynSize& -
auto dynamicsRegularizationPriorExpectedValue() -> iDynTree::
VectorDynSize& -
auto measurementsPriorCovarianceInverse() const -> const iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& -
auto measurementsPriorCovarianceInverse() -> iDynTree::
SparseMatrix<iDynTree::ColumnMajor>& - auto isValid() -> bool
- auto initialize() -> bool
- void updateEstimateInformationFixedBase(const JointPosDoubleArray& jointsConfiguration, const JointDOFsDoubleArray& jointsVelocity, const FrameIndex fixedFrame, const Vector3& gravityInFixedFrame, const VectorDynSize& measurements)
- void updateEstimateInformationFloatingBase(const JointPosDoubleArray& jointsConfiguration, const JointDOFsDoubleArray& jointsVelocity, const FrameIndex floatingFrame, const Vector3& bodyAngularVelocityOfSpecifiedFrame, const VectorDynSize& measurements)
- auto doEstimate() -> bool
-
void getLastEstimate(iDynTree::
VectorDynSize& lastEstimate) const -
auto getLastEstimate() const -> const iDynTree::
VectorDynSize&