Oskar Weigl
Kalman filter for Eurobot
Diff: Kalman.h
- Revision:
- 0:a0285293f6a6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Kalman.h Tue Mar 20 12:43:16 2012 +0000
@@ -0,0 +1,27 @@
+#include "Matrix.h"
+#include "RFSRF05.h"
+
+//const int wheelmm = 314;
+//const int robotCircumference = 1052;
+//TODO make a globals and defines header file
+const int wheelbase = 400;
+
+class Kalman {
+public:
+ Kalman();
+
+ void predict(float left, float right);
+ void update(int sonarid, float dist);
+
+ //State variables
+ Matrix X; //(3,1)
+ Matrix P; //(3,3);
+
+private:
+ Matrix Q; //perhaps calculate on the fly? dependant on speed etc?
+ float R;
+
+ RFSRF05 sonararray;//(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
+ static const float beaconx = 0;
+ static const float beacony = 0;
+};
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