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...

Detailed Description

Observe contact between the wheels and the floor.

This observer makes two assumptions:

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.

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

Classes