Class GmObserver

Defined in File GmObserver.h

Class Documentation

class GmObserver

Public Types

using SharedPtr = std::shared_ptr<GmObserver>

Public Functions

explicit GmObserver(const std::shared_ptr<LeggedModel> &leggedModel, scalar_t cutoffFrequency = 10)

inline void setCutOffFrequency(scalar_t cutoffFrequency)

virtual void update(scalar_t period)

std::vector<vector_t> getContactWrenches()

inline vector_t getBaseWrench() const

Protected Attributes

LeggedModel::SharedPtr leggedModel_

scalar_t cutoffFrequency_

vector_t lowPassLast_

vector_t tauExt_

vector_t fExt_