File content as of revision 0:8126c86bac2a:

#ifndef _ATTITUDE_ESTIMATION_H_
#define _ATTITUDE_ESTIMATION_H_
#include "mbed.h"

typedef struct{
    float e[3];
    } VECTOR3;
typedef struct{
    float e[3][3];
    } MATRIX33;

// Class
class ATTITUDE{
public:
        
    // Variables
    VECTOR3 x_est;
    VECTOR3 EulerAngle;
    
    
    // Constructor:
    // Initialize the estimator, 
    ATTITUDE();
    
    // Methods
    // Transformations
    MATRIX33 Vector_to_SkewSymmetry(VECTOR3);
    VECTOR3 SkewSymmetry_to_Vector(MATRIX33);
    VECTOR3 gVector_to_EulerAngle(VECTOR3);
    VECTOR3 EulerAngle_to_gVector(VECTOR3);   
    // Estimator
    void Init_Estimator(VECTOR3);
    void Reset_Estimator(VECTOR3);
    void Run_Estimator(VECTOR3);

private:
    int8_t _init_flag; // Flag for displaying initialization status 
    VECTOR3 _x_est; // Estimated state
    VECTOR3 _y; // Sensor output
    VECTOR3 _omega; // Rotation speed in body-fixed frame
    // MATRIX33 _Omega_cross; // Skew-symetric matrix of rotaion speed
    
    MATRIX33 _L1; // Gain matrix
    float _Ts; // Sampling time
    
    // Method
    void Set_x_est(VECTOR3);
    void Set_measurements(float[],float[]); // array -> VECTOR33; y, omega
    void Set_L1(MATRIX33); // set gain matrix

};
#endif // _ATTITUDE_ESTIMATION_H_