upkie::cpp::observers::FloorContact Class Reference

Observe contact between the wheels and the floor. More...

#include <FloorContact.h>

Classes
struct	Parameters
	Parameters to the floor contact observer. More...

Public Member Functions
	FloorContact (const Parameters &params)
	Initialize observer. More...
std::string	prefix () const noexcept final
	Prefix of outputs in the observation dictionary. More...
void	reset (const Dictionary &config) override
	Reset observer. More...
void	read (const Dictionary &observation) final
	Read inputs from other observations. More...
void	write (Dictionary &observation) final
	Write outputs, called if reading was successful. More...
Public Member Functions inherited from upkie::cpp::observers::Observer
virtual	~Observer ()
	Destructor is virtual to deallocate lists of observers properly.
virtual std::string	prefix () const noexcept
	Prefix of outputs in the observation dictionary. More...
virtual void	reset (const Dictionary &config)
	Reset observer. More...
virtual void	read (const Dictionary &observation)
	Read inputs from other observations. More...
virtual void	write (Dictionary &observation)
	Write outputs, called if reading was successful. More...

Detailed Description

Observe contact between the wheels and the floor.

This observer makes two assumptions:

1. The floor is a plane.
2. The robot's head plane is parallel to the floor.

The two planes are depicted in this overview figure:

It determines whether contact is established based on:

• WheelContact observers associated with each wheel.
• Hip and knee torques, whose norm is a good indicator of contact when the floor is not orthogonal to gravity, or the legs are bent, but is an unreliable indicator when the floor is horizontal and the legs are stretched.

The latter is an incremental improvement to filter out outliers from the former.

Constructor & Destructor Documentation

FloorContact()

upkie::cpp::observers::FloorContact::FloorContact ( const Parameters &  params )

explicit

Initialize observer.

Parameters

[in]

params

Observer parameters.

Member Function Documentation

prefix()

std::string upkie::cpp::observers::FloorContact::prefix ( ) const

inlinefinalvirtualnoexcept

Prefix of outputs in the observation dictionary.

Reimplemented from upkie::cpp::observers::Observer.

read()

void upkie::cpp::observers::FloorContact::read ( const Dictionary &  observation )

finalvirtual

Read inputs from other observations.

Parameters

[in]

observation

Dictionary to read other observations from.

Reimplemented from upkie::cpp::observers::Observer.

reset()

void upkie::cpp::observers::FloorContact::reset ( const Dictionary &  config )

overridevirtual

Reset observer.

Parameters

[in]

config

Overall configuration dictionary.

Reimplemented from upkie::cpp::observers::Observer.

write()

void upkie::cpp::observers::FloorContact::write ( Dictionary &  observation )

finalvirtual

Write outputs, called if reading was successful.

Parameters

[out]

observation

Dictionary to write observations to.

Reimplemented from upkie::cpp::observers::Observer.

---

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

• upkie/cpp/observers/FloorContact.h
• upkie/cpp/observers/FloorContact.cpp