FSG / PosVelFilter

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Fork of PosVelFilter_7_14 by Troy Holley

PosVelFilter.hpp

Committer:
tnhnrl
Date:
2017-07-17
Revision:
2:992e774dc62a
Parent:
0:82f27e7e99f0
Child:
3:8107bb13278b

File content as of revision 2:992e774dc62a:

#ifndef MBED_DEPTHFILTER_H
#define MBED_DEPTHFILTER_H

#include "mbed.h"

class PosVelFilter
{
public:
    PosVelFilter();
    
    void update();
    
    void init();
    
    float getPosition();
    float getVelocity();
    float getDt();
    
    //NEW TROY
    float get_conv_distance();
    float get_curr_time();
    float get_last_time();
    float get_x1_dot();
    float get_x2_dot();
    float get_x1();
    float get_x2();
    
 //   void setConfigFlag();
    void writeWn(float wn);
    
protected:
    float x1;
    float x2;
    float x2_dot;
    float x1_dot;
    float w_n; 
    
    float last_time;
    float curr_time;
    float dt;
    
    float conv_distance;
    float position;
    float velocity;
    
 //   bool readConfiguration();
 //   bool configFlag;
 //   int count;
};

#endif