Kalman.h

00001 #ifndef KALMAN_H
00002 #define KALMAN_H
00003 
00004 #include "globals.h"
00005 #include "rtos.h"
00006 
00007 namespace Kalman
00008 {
00009 
00010 //Accessor function to get the state as one consistent struct
00011 State getState();
00012 
00013 //Main loops (to be attached as a thread in main)
00014 void predictloop(void const*);
00015 void updateloop(void const*);
00016 
00017 void start_predict_ticker(Thread* predict_thread_ptr_in);
00018 
00019 enum measurement_t {SONAR0 = 0, SONAR1, SONAR2, IR0, IR1, IR2};
00020 const measurement_t maxmeasure = IR2;
00021 
00022 //Call this to run an update
00023 void runupdate(measurement_t type, float value, float variance);
00024 
00025 extern float RawReadings[maxmeasure+1];
00026 
00027 extern bool Kalman_inited;
00028 
00029 //Initialises the kalman filter
00030 void KalmanInit();
00031 
00032 }
00033 
00034 #endif //KALMAN_H