FSG
/
PosVelFilter
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Fork of
PosVelFilter_7_14
by 
Troy Holley
PosVelFilter.hpp@3:8107bb13278b, 2017-07-28 (annotated)
- Committer:
- mdavis30
- Date:
- Fri Jul 28 18:49:50 2017 +0000
- Revision:
- 3:8107bb13278b
- Parent:
- 2:992e774dc62a
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| tzyoung | 0:82f27e7e99f0 | 1 | #ifndef MBED_DEPTHFILTER_H |
| tzyoung | 0:82f27e7e99f0 | 2 | #define MBED_DEPTHFILTER_H |
| tzyoung | 0:82f27e7e99f0 | 3 | |
| tzyoung | 0:82f27e7e99f0 | 4 | #include "mbed.h" |
| tzyoung | 0:82f27e7e99f0 | 5 | |
| tzyoung | 0:82f27e7e99f0 | 6 | class PosVelFilter |
| tzyoung | 0:82f27e7e99f0 | 7 | { |
| tzyoung | 0:82f27e7e99f0 | 8 | public: |
| tzyoung | 0:82f27e7e99f0 | 9 | PosVelFilter(); |
| tzyoung | 0:82f27e7e99f0 | 10 | |
| tzyoung | 0:82f27e7e99f0 | 11 | void update(); |
| mdavis30 | 3:8107bb13278b | 12 | void update_la(); |
| tzyoung | 0:82f27e7e99f0 | 13 | |
| tzyoung | 0:82f27e7e99f0 | 14 | void init(); |
| mdavis30 | 3:8107bb13278b | 15 | void init_la(); |
| tzyoung | 0:82f27e7e99f0 | 16 | |
| tzyoung | 0:82f27e7e99f0 | 17 | float getPosition(); |
| tzyoung | 0:82f27e7e99f0 | 18 | float getVelocity(); |
| tzyoung | 0:82f27e7e99f0 | 19 | float getDt(); |
| tzyoung | 0:82f27e7e99f0 | 20 | |
| tnhnrl | 2:992e774dc62a | 21 | //NEW TROY |
| tnhnrl | 2:992e774dc62a | 22 | float get_conv_distance(); |
| tnhnrl | 2:992e774dc62a | 23 | float get_curr_time(); |
| tnhnrl | 2:992e774dc62a | 24 | float get_last_time(); |
| tnhnrl | 2:992e774dc62a | 25 | float get_x1_dot(); |
| tnhnrl | 2:992e774dc62a | 26 | float get_x2_dot(); |
| tnhnrl | 2:992e774dc62a | 27 | float get_x1(); |
| tnhnrl | 2:992e774dc62a | 28 | float get_x2(); |
| tnhnrl | 2:992e774dc62a | 29 | |
| tzyoung | 0:82f27e7e99f0 | 30 | // void setConfigFlag(); |
| tzyoung | 0:82f27e7e99f0 | 31 | void writeWn(float wn); |
| tzyoung | 0:82f27e7e99f0 | 32 | |
| tzyoung | 0:82f27e7e99f0 | 33 | protected: |
| tzyoung | 0:82f27e7e99f0 | 34 | float x1; |
| tzyoung | 0:82f27e7e99f0 | 35 | float x2; |
| tzyoung | 0:82f27e7e99f0 | 36 | float x2_dot; |
| tzyoung | 0:82f27e7e99f0 | 37 | float x1_dot; |
| tzyoung | 0:82f27e7e99f0 | 38 | float w_n; |
| tzyoung | 0:82f27e7e99f0 | 39 | |
| tzyoung | 0:82f27e7e99f0 | 40 | float last_time; |
| tzyoung | 0:82f27e7e99f0 | 41 | float curr_time; |
| tzyoung | 0:82f27e7e99f0 | 42 | float dt; |
| tzyoung | 0:82f27e7e99f0 | 43 | |
| tzyoung | 0:82f27e7e99f0 | 44 | float conv_distance; |
| tzyoung | 0:82f27e7e99f0 | 45 | float position; |
| tzyoung | 0:82f27e7e99f0 | 46 | float velocity; |
| tzyoung | 0:82f27e7e99f0 | 47 | |
| tzyoung | 0:82f27e7e99f0 | 48 | // bool readConfiguration(); |
| tzyoung | 0:82f27e7e99f0 | 49 | // bool configFlag; |
| tzyoung | 0:82f27e7e99f0 | 50 | // int count; |
| tzyoung | 0:82f27e7e99f0 | 51 | }; |
| tzyoung | 0:82f27e7e99f0 | 52 | |
| tzyoung | 0:82f27e7e99f0 | 53 | #endif |