FSG / PosVelFilter

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Fork of PosVelFilter_7_14 by Troy Holley

PosVelFilter.hpp@2:992e774dc62a, 2017-07-17 (annotated)

Committer:
tnhnrl
Date:
Mon Jul 17 14:24:27 2017 +0000
Revision:
2:992e774dc62a
Parent:
0:82f27e7e99f0
Child:
3:8107bb13278b
7 14 commit

;

Who changed what in which revision?

UserRevisionLine numberNew 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();
tzyoung 0:82f27e7e99f0 12
tzyoung 0:82f27e7e99f0 13 void init();
tzyoung 0:82f27e7e99f0 14
tzyoung 0:82f27e7e99f0 15 float getPosition();
tzyoung 0:82f27e7e99f0 16 float getVelocity();
tzyoung 0:82f27e7e99f0 17 float getDt();
tzyoung 0:82f27e7e99f0 18
tnhnrl 2:992e774dc62a 19 //NEW TROY
tnhnrl 2:992e774dc62a 20 float get_conv_distance();
tnhnrl 2:992e774dc62a 21 float get_curr_time();
tnhnrl 2:992e774dc62a 22 float get_last_time();
tnhnrl 2:992e774dc62a 23 float get_x1_dot();
tnhnrl 2:992e774dc62a 24 float get_x2_dot();
tnhnrl 2:992e774dc62a 25 float get_x1();
tnhnrl 2:992e774dc62a 26 float get_x2();
tnhnrl 2:992e774dc62a 27
tzyoung 0:82f27e7e99f0 28 // void setConfigFlag();
tzyoung 0:82f27e7e99f0 29 void writeWn(float wn);
tzyoung 0:82f27e7e99f0 30
tzyoung 0:82f27e7e99f0 31 protected:
tzyoung 0:82f27e7e99f0 32 float x1;
tzyoung 0:82f27e7e99f0 33 float x2;
tzyoung 0:82f27e7e99f0 34 float x2_dot;
tzyoung 0:82f27e7e99f0 35 float x1_dot;
tzyoung 0:82f27e7e99f0 36 float w_n;
tzyoung 0:82f27e7e99f0 37
tzyoung 0:82f27e7e99f0 38 float last_time;
tzyoung 0:82f27e7e99f0 39 float curr_time;
tzyoung 0:82f27e7e99f0 40 float dt;
tzyoung 0:82f27e7e99f0 41
tzyoung 0:82f27e7e99f0 42 float conv_distance;
tzyoung 0:82f27e7e99f0 43 float position;
tzyoung 0:82f27e7e99f0 44 float velocity;
tzyoung 0:82f27e7e99f0 45
tzyoung 0:82f27e7e99f0 46 // bool readConfiguration();
tzyoung 0:82f27e7e99f0 47 // bool configFlag;
tzyoung 0:82f27e7e99f0 48 // int count;
tzyoung 0:82f27e7e99f0 49 };
tzyoung 0:82f27e7e99f0 50
tzyoung 0:82f27e7e99f0 51 #endif