Class ForceEstimation

Class Documentation

class ForceEstimation

Public Functions

ForceEstimation(double alpha, size_t n_samples)
inline ~ForceEstimation()
double computeThrustError(const double &current_mass, const double a_z_mean, const double &u_thrust)

Compute thrust from IMU measurements.

Parameters:

  • current_mass – Current mass

  • a_z_mean – Mean of the last n samples of the z-acceleration

  • u_thrust – Current thrust command

Returns:

Thrust error estimation in Newtons

double computedMeanFromVector(std::vector<double> &vec)

Compute mean from a vector of doubles.

Parameters:

vec – Vector of doubles

Returns:

Mean value

double computedMeanFromNSamples(const std::vector<double> &vec)

Compute mean from the last n samples of a vector of doubles.

Parameters:

vec – Vector of doubles

Returns:

Mean value

double lowPassFiltered(double &error, double &last_filtered_error)

Low-pass filter.

Parameters:

  • error – Input thrust value

  • last_filtered_error – Last filtered error value

Returns:

Filtered thrust value