iCub::ctrl::AWLinEstimator Class Reference

Adaptive window linear fitting to estimate the first derivative. More...

#include <adaptWinPolyEstimator.h>

Inheritance diagram for iCub::ctrl::AWLinEstimator:

Public Member Functions
	AWLinEstimator (unsigned int _N, const double _D)
Public Member Functions inherited from iCub::ctrl::AWPolyEstimator
	AWPolyEstimator (unsigned int _order, unsigned int _N, const double _D)
	Create a polynomial estimator object of order _order on an adaptive window of a maximum length _N an threshold _D.
AWPolyList &	getList ()
	Return a reference to internal elements list.
void	feedData (const AWPolyElement &el)
	Feed data into the algorithm.
yarp::sig::Vector	getWinLen ()
	Return the current windows lengths.
yarp::sig::Vector	getMSE ()
	Return the mean squared error (MSE) computed over the current windows lengths between the predictions and the real data.
yarp::sig::Vector	estimate ()
	Execute the algorithm upon the elements list, with the max deviation threshold given by D.
yarp::sig::Vector	estimate (const AWPolyElement &el)
	Execute the algorithm upon the elements list, with the max deviation threshold given by D.
void	reset ()
	Reinitialize the internal state.
virtual	~AWPolyEstimator ()
	Destructor.

Protected Member Functions
virtual yarp::sig::Vector	fit (const yarp::sig::Vector &x, const yarp::sig::Vector &y, const unsigned int n=0)
	Redefine method to improve computation just for first-order estimator.
virtual double	getEsteeme ()
	Return the current estimation.
Protected Member Functions inherited from iCub::ctrl::AWPolyEstimator
virtual double	eval (double x)
	Evaluate regressor at certain point.

Additional Inherited Members
Protected Attributes inherited from iCub::ctrl::AWPolyEstimator
AWPolyList	elemList
unsigned int	order
unsigned int	N
double	D
yarp::sig::Vector	t
yarp::sig::Vector	x
yarp::sig::Vector	coeff
yarp::sig::Vector	winLen
yarp::sig::Vector	mse
bool	firstRun

Detailed Description

Adaptive window linear fitting to estimate the first derivative.

Definition at line 184 of file adaptWinPolyEstimator.h.

Constructor & Destructor Documentation

AWLinEstimator()

iCub::ctrl::AWLinEstimator::AWLinEstimator ( unsigned int  _N, const double  _D  )

inline

Definition at line 197 of file adaptWinPolyEstimator.h.

Member Function Documentation

fit()

Vector AWLinEstimator::fit ( const yarp::sig::Vector &  x, const yarp::sig::Vector &  y, const unsigned int  n = 0  )

protectedvirtual

Redefine method to improve computation just for first-order estimator.

Reimplemented from iCub::ctrl::AWPolyEstimator.

Definition at line 204 of file adaptWinPolyEstimator.cpp.

getEsteeme()

virtual double iCub::ctrl::AWLinEstimator::getEsteeme ( )

inlineprotectedvirtual

Return the current estimation.

Note

needs to be defined.

Returns

esteeme.

Implements iCub::ctrl::AWPolyEstimator.

Definition at line 194 of file adaptWinPolyEstimator.h.

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

• icub-main/src/libraries/ctrlLib/include/iCub/ctrl/adaptWinPolyEstimator.h
• icub-main/src/libraries/ctrlLib/src/adaptWinPolyEstimator.cpp