Diff: AigamozuControlPackets.h

Revision:

49:c69fcf98e6b7

Parent:

41:2ec22c53aa26

diff -r 246051b4f24d -r c69fcf98e6b7 AigamozuControlPackets.h
--- a/AigamozuControlPackets.h	Mon Jun 06 09:52:28 2016 +0000
+++ b/AigamozuControlPackets.h	Tue Aug 09 13:04:06 2016 +0000
@@ -80,6 +80,8 @@
     double get_agzPointKalman_longi();
     double get_agzCov_lati();
     double get_agzCov_longi();
+    double get_agzCov_lati_collect();
+    double get_agzCov_longi_collect();
     double get_basePoint_lati(int);
     double get_basePoint_longi(int);
     double get_basePointKalman_lati(int);
@@ -88,6 +90,7 @@
     void set_agzPointKalman_lati(double);
     void set_agzPointKalman_longi(double);
     
+    void set_agzCov_from_packet(uint8_t *cov_lati,uint8_t *cov_longi);
     void set_agzCov(double cov_lati,double cov_longi);
 
     //Auto Type 2 -> GPS    
@@ -114,7 +117,7 @@
     
     vector2D agzPoint;//自分自身の位置の情報（double型）
     vector2D agzPointKalman;
-    vector2D agzCov;//カルマンフィルタの共分散
+    vector2D agzCov,agzCov_collect;//カルマンフィルタの共分散
     vector2D sub_vector( const vector2D& a, const vector2D& b );
     bool checkGpsHit( vector2D A, vector2D B, vector2D C, vector2D P);