Diff: Kalman/Kalman.h

Revision:

1:cc2a9eb0bd55

Parent:

0:fbfafa6bf5f9

--- a/Kalman/Kalman.h	Fri Apr 20 21:32:24 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,59 +0,0 @@
-#include "rtos.h"
-//#include "Matrix.h"
-#include "motors.h"
-#include "RFSRF05.h"
-
-#include <tvmet/Matrix.h>
-#include <tvmet/Vector.h>
-using namespace tvmet;
-
-
-class Kalman {
-public:
-    enum measurement_t {SONAR1 = 0, SONAR2, SONAR3, IR1, IR2, IR3};
-    static const measurement_t maxmeasure = IR3;
-    
-    Kalman(Motors &motorsin);
-    
-    void predict();
-    void runupdate(measurement_t type, float value, float variance);
-    
-    //State variables
-    Vector<float, 3> X;
-    Matrix<float, 3, 3> P;
-    Mutex statelock;
-    
-    float SonarMeasures[3];
-    float IRMeasures[3];
-    
-private:
-
-    //Matrix<float, 3, 3> Q; //perhaps calculate on the fly? dependant on speed etc?
-    
-    RFSRF05 sonararray;
-    Motors& motors;
-    
-    Thread predictthread;
-    void predictloop();
-    static void predictloopwrapper(void const *argument){ ((Kalman*)argument)->predictloop(); }
-    RtosTimer predictticker;
-    
-//    Thread sonarthread;
-//    void sonarloop();
-//    static void sonarloopwrapper(void const *argument){ ((Kalman*)argument)->sonarloop(); }
-//    RtosTimer sonarticker;
-    
-    struct measurmentdata{
-        measurement_t mtype;
-        float value;
-        float variance;
-    } ;
-    
-    Mail <measurmentdata, 16> measureMQ;
-    
-    Thread updatethread;
-    void updateloop();
-    static void updateloopwrapper(void const *argument){ ((Kalman*)argument)->updateloop(); }
-    
-    
-};
\ No newline at end of file