estimation¶

Estimation: the state of a running robot and quantities no sensor measures, from its model.

Modules

`balance`	The static balance of a controlled robot, as a CasADi expression of the controller's inputs.
`compliance`	Object compliance by probing: how far the tip moves for the force it adds.
`contact`	Contact force from the controller's command and the robot's own model.
`imu`	IMUs on a soft arm: the curvature of each section and its rate, from gyros and accelerometers.
`inversion`	The configuration that puts a robot's points where a position sensor saw them.
`kalman`	Kalman filter of a robot's state (q, v), with the process model taken from its own dynamics.
`measurement`	What a sensor saw: some of the coordinates q and rates v of the robot, with their noise.
`momentum`	External forces on a robot from its motion, without accelerations: a momentum observer.
`sensors`	Simulated sensors: the true state in, a noisy reading out, as the estimators take it.
`stiffness`	Task-space stiffness of a robot at rest in contact, from its controller and its model.
`velocity`	Velocity of a sampled signal: the low-passed finite difference of its consecutive samples.