Chun Feng Huang / STATES_OBSERVER_DELAY

An state-observer that deals with delay in measurements, also compatible with the standard state-observer

Diff: STATES_OBSERVER_DELAY.h

Revision:
1:085d41355949
Parent:
0:0699f8e638ca
--- a/STATES_OBSERVER_DELAY.h	Wed Jan 11 09:30:18 2017 +0000
+++ b/STATES_OBSERVER_DELAY.h	Fri Feb 10 18:27:14 2017 +0000
@@ -6,6 +6,12 @@
 
 using std::vector;
 
+/*
+// For debugging
+#include <iostream>
+using std::cout;
+//
+*/
 
 //-----------------------------------------------------------------------//
 // Note: if the "delay_sample" was set to "0", the observer will be the regular observer
@@ -57,9 +63,11 @@
     // Assign continuous-time version of system matrices
     void assign_At(float* At_in, size_t n_in); // Continuous-time version
     void assign_Bt(float* Bt_in, size_t n_in, size_t p_in); // Continuous-time version
+    void assign_Lt(float* Lt_in, size_t n_in, size_t d_in, size_t q_in); // Continuous-time version
     // ** Assign the continuous-time version of system matrices by matrices
     void assign_At(const vector<vector<float> > &At_in);
     void assign_Bt(const vector<vector<float> > &Bt_in);
+    void assign_Lt(const vector<vector<float> > &Lt_in);
     // Assign discrete-time version of system matrices directly
     void assign_Ad(float* Ad_in, size_t n_in); // Discrete-time version
     void assign_Bd(float* Bd_in, size_t n_in, size_t p_in); // Discrete-time version