storm_kit.mpc.utils.state_filter module

class AlphaBetaFilter(filter_coeff=0.4)[source]

Bases: object

filter(raw_state)[source]
two_state_filter(raw_state1, raw_state2)[source]
class JointStateFilter(raw_joint_state=None, filter_coeff=0.4, dt=0.1, filter_keys=['position', 'velocity', 'acceleration'])[source]

Bases: object

filter_joint_state(raw_joint_state)[source]
forward_predict_internal_state(dt=None)[source]
integrate_acc(qdd_des, raw_joint_state, dt=None)[source]
integrate_jerk(qddd_des, raw_joint_state, dt=None)[source]
integrate_pos(q_des, raw_joint_state, dt=None)[source]
integrate_vel(qd_des, raw_joint_state, dt=None)[source]
predict_internal_state(qdd_des=None, dt=None)[source]
class RobotStateFilter(filter_keys=['position', 'velocity', 'acceleration'], filter_coeff={'acceleration': 0.1, 'position': 0.1, 'velocity': 0.1}, dt=0.1)[source]

Bases: object

filter_state(raw_state, dt=None)[source]