Class LuenbergerParam

• Defined in File luenberger_param.hpp

Inheritance Relationships

Base Type

• public state_observer::StateObserverParam (Class StateObserverParam)

Class Documentation

class LuenbergerParam : public state_observer::StateObserverParam

Parameters for the Luenberger observer.

The LuenbergerParam class extends StateObserverParam to include the observer gain matrix specific to the Luenberger observer.

Public Types

using SharedPtr = std::shared_ptr<LuenbergerParam>

Public Functions

inline LuenbergerParam()

Default constructor.

inline virtual ~LuenbergerParam()

Destructor.

virtual void initialize(const rclcpp_lifecycle::LifecycleNode::SharedPtr &node)

Initialize the parameters from a ROS 2 lifecycle node.

This method reads the parameters from the provided node and initializes the state-space matrices and observer gain matrix.

Parameters:

node – Shared pointer to an rclcpp_lifecycle::LifecycleNode.

Throws:

std::runtime_error – if parameter retrieval fails.

inline Eigen::MatrixXd get_observer_gain()

Get the observer gain matrix L.

Returns:

Observer gain matrix L_ (n x q).

virtual std::string get_type() const override

Get the type of the state observer.

Returns:

A string representing the type of the state observer.

Protected Attributes

Eigen::MatrixXd L_