extended_kalman.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
/*
 * Copyright (c) 2019 Sanger_X
 */
 
#ifndef TAPROOT_EXTENDED_KALMAN_HPP_
#define TAPROOT_EXTENDED_KALMAN_HPP_
 
namespace tap
{
namespace algorithms
{
class ExtendedKalman
{
public:
    ExtendedKalman(float tQ, float tR);
 
    float filterData(float dat);
 
    float getLastFiltered() const;
 
    void reset();
 
private:
    float xLast;  
    float xMid;   
    float xNow;   
    float pMid;   
    float pNow;   
    float pLast;  
    float kg;     
    float A;      
    float B;      
    float Q;      
    float R;      
    float H;      
};                // class ExtendedKalman
 
}  // namespace algorithms
 
}  // namespace tap
 
#endif  // TAPROOT_EXTENDED_KALMAN_HPP_