Observer
Observer estimates every state of a plant, including the ones no sensor measures — a velocity from position alone, a load torque from motor current, a temperature inside a body from its surface.
Estimation and maths
Observers, state-space models and the arithmetic blocks used to build a signal path.
less than a minute
ObserverKalmanFilter
ObserverKalmanFilter estimates a joint’s position, velocity and torque from noisy sensor readings, using a model of the joint to reject noise the sensor cannot distinguish from signal.
StateSpace
StateSpace runs a linear model of a plant from its four matrices.
Integrator
Integrator accumulates its input over time, with a limiter on each side: the input can be bounded before it is integrated, and the output after.
IntegratorRot3D
IntegratorRot3D integrates an angular velocity into an orientation.
Polynomial
Polynomial evaluates a polynomial in its input: $y = a_0 + a_1u + a_2u^2 + \dots$.
Lookup
Lookup maps an input to an output through a table of points, interpolating straight lines between them.
Gain
Gain multiplies each channel of its input by a gain and adds an offset.
SignalConverter
SignalConverter converts a quantity in both directions at once.