pyFRI.tools.state_estimators

The pyFRI.tools.state_estimators provides an interface to monitor various aspects of the robot state.

JointStateEstimator

The JointStateEstimator class keeps track of the joint position, velocity, and acceleration using the finite difference method. The joint velocities and accelerations are estimated using a window of the previous three joint positions.

JointStateEstimator.__init__(client)

Initialize the JointStateEstimator with the specified client.

Parameters:

• client [pyFRI.LBRClient]: An instance of the client for communication with the robot.

q = JointStateEstimator.q(idx)

Get the joint positions from the buffer.

Parameters:

• idx [int]: The index of the joint positions relative to the latest data.

Returns:

• q [numpy.ndarray]: A numpy array containing the joint positions at the specified index.

dq = JointStateEstimator.dq(idx)

Get the joint velocities from the buffer.

Parameters:

• idx [int]: The index of the joint velocities relative to the latest data.

Returns:

• dq [numpy.ndarray]: A numpy array containing the joint velocities at the specified index.

ddq = JointStateEstimator.ddq(idx)

Get the joint accelerations from the buffer.

Parameters:

• idx [int]: The index of the joint accelerations relative to the latest data.

Returns:

• dq [numpy.ndarray]: A numpy array containing the joint accelerations at the specified index.

JointStateEstimator.get_position()

Get the current joint positions.

Returns:

• q [numpy.ndarray]: A numpy array containing the current joint positions.

dq = JointStateEstimator.get_velocity()

Get the current joint velocities.

Returns:

• dq [numpy.ndarray]: A numpy array containing the current joint velocities.

ddq = JointStateEstimator.get_acceleration()

Get the current joint accelerations.

Returns:

• ddq [numpy.ndarray]: A numpy array containing the current joint accelerations.

TaskSpaceStateEstimator

TODO

ExternalTorqueEstimator

TODO

FRIExternalTorqueEstimator(ExternalTorqueEstimator)

TODO

WrenchEstimator

TODO

WrenchEstimatorJointOffset(WrenchEstimator)

TODO

WrenchEstimatorTaskOffset(WrenchEstimator)

TODO