Class ObservationTerm

• Defined in File ObservationManager.h

Inheritance Relationships

Derived Types

• public legged::BaseAngVelObservationTerm (Class BaseAngVelObservationTerm)

• public legged::BaseLinVelObservationTerm (Class BaseLinVelObservationTerm)

• public legged::CommandObservationTerm (Class CommandObservationTerm)

• public legged::JointObservationTerm (Class JointObservationTerm)

• public legged::LastActionObservationTerm (Class LastActionObservationTerm)

• public legged::LocalObservationTerm (Class LocalObservationTerm)

• public legged::PhaseObservationTerm (Class PhaseObservationTerm)

Class Documentation

class ObservationTerm

Subclassed by legged::BaseAngVelObservationTerm, legged::BaseLinVelObservationTerm, legged::CommandObservationTerm, legged::JointObservationTerm, legged::LastActionObservationTerm, legged::LocalObservationTerm, legged::PhaseObservationTerm

Public Types

using SharedPtr = std::shared_ptr<ObservationTerm>

Public Functions

ObservationTerm() = default

virtual ~ObservationTerm() = default

inline vector_t getValue()

virtual size_t getSize() const = 0

inline void setHistoryLength(size_t historyLength)

inline size_t getHistoryLength() const

inline size_t getTotalSize() const

inline virtual void reset()

inline virtual void setModel(const LeggedModel::SharedPtr &model)

Protected Functions

virtual vector_t evaluate() = 0

inline virtual vector_t modify(const vector_t &observation)

Protected Attributes

LeggedModel::SharedPtr model_ = {}

size_t historyLength_ = {1}

bool initialized_ = {false}

std::deque<vector_t> history_ = {}