File content as of revision 1:edc7ccfc5562:

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

// Class
class ATTITUDE{
public:
        
    // Variables
    float alpha; // Convergent rate, rad/sec.
    float Ts; // Sampling time, sec.
    
    float EulerAngle[3];
    float ys[3]; // Sensor output
    float omega[3]; // Rotation speed in body-fixed frame
    
    // Constructor:
    // Initialize the estimator
    ATTITUDE(float alpha_in, float Ts_in); // alpha in rad/sec., Ts in sec.
    
    // Methods
    // Transformations
    //float* Vector_to_SkewSymmetry(float v_in[]);
    //float* SkewSymmetry_to_Vector(float M_in[3][]);
    void gVector_to_EulerAngle(float v_out[],float v_in[]);
    //float* EulerAngle_to_gVector(float Eu_in[]);   
    
    // vector operation
    void Get_CrossProduct3(float v_c[],float v_a[], float v_b[]); // v_c =  v_a X v_b
    float Get_Vector3Norm(float v_in[]);
    
    // Estimator
    void Init_Estimator(float y_in[]); // Let _x_est = y_in
    void Run_Estimator(float y_in[], float omega_in[]); // Main alogorithm
    void Get_Estimation(float v[]);
    void Get_Attitude_Euler(float v[]);

private:
    float _unit_nk[3]; // (-k) direction [0;0;-1]
    float _zero3[3]; // Zero vector [0;0;0]
    //
    int8_t _init_flag; // Flag for displaying initialization status 
    float _x_est[3]; // Estimated state
    // float _omega_x[3][3]; // Skew symmetric matrix of omega
    
    
    float _L1_diag[3]; // Diagonal vector of gain matrix L1
    
    
    // Method
    void Set_vector3(float v_a[], float v_b[]); // Vectors in R^3. Let the values of v_b be set to v_a   
    void Set_L1_diag(float alpha); // set diagnal element of gain matrix

};
#endif // _ATTITUDE_ESTIMATION_H_