upkie::cpp::observers::WheelContact::Parameters Struct Reference

Observer parameters. More...

#include <WheelContact.h>

Public Member Functions
void	configure (const Dictionary &config)
	Read parameters from a configuration dictionary. More...

Public Attributes
double	liftoff_inertia
	Hysteresis value of the apparent inertia that triggers liftoff detection, in [m]² * [kg].
double	cutoff_period
	Low-pass filtering time constant, in [s].
double	min_touchdown_acceleration
	Skip touchdown detection below this acceleration, in [rad] / [s]². More...
double	min_touchdown_torque
	Skip touchdown detection below this torque, in [N m].
double	touchdown_inertia
	Hysteresis value of the apparent inertia that triggers touchdown detection, in [m]² * [kg].

Detailed Description

Observer parameters.

Member Function Documentation

configure()

void upkie::cpp::observers::WheelContact::Parameters::configure ( const Dictionary &  config )

inline

Read parameters from a configuration dictionary.

Parameters

[in]

config

Configuration dictionary.

Member Data Documentation

min_touchdown_acceleration

double upkie::cpp::observers::WheelContact::Parameters::min_touchdown_acceleration

Skip touchdown detection below this acceleration, in [rad] / [s]².

This avoids false positives when the air wheel acceleration happens to be low.

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The documentation for this struct was generated from the following file:

• upkie/cpp/observers/WheelContact.h