File content as of revision 0:349dc9b0984f:

//#include "rtos.h"
#include "Matrix.h"
//#include "RFSRF05.h"
//#include "motors.h"
#include "RF12B.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();//Motors &motorsin);
    
    //void predict();
    //void runupdate(int sonarid, float dist);
    
    //State variables
    //Matrix X; //(3,1)
    //Matrix P; //(3,3);
    //Mutex statelock;
    
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);
    RF12B rflol;
    //Motors& motors;
    //Ticker predictticker;
    
    //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;
    
    //enum measurement_t {SONAR1, SONAR2, SONAR3};
    //struct measurmentdata {
    //    measurement_t mtype;
    //    float value;
    //};
    //Mail <measurmentdata, 16> measureMQ;
    
    //Thread updatethread;
    //void updateloop();
    //static void updateloopwrapper(void const *argument){ ((Kalman*)argument)->updateloop(); }
    
    
};