Shao Rui / Mbed 2 deprecated Kalman

1

Dependencies:   mbed

kalmanfilter/kalmanfilter.h@0:c55310328157, 2020-02-07 (annotated)

Committer:
shaorui
Date:
Fri Feb 07 11:34:24 2020 +0000
Revision:
0:c55310328157
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shaorui 0:c55310328157 1 #ifndef KALMANFILTER_H
shaorui 0:c55310328157 2 #define KALMANFILTER_H
shaorui 0:c55310328157 3
shaorui 0:c55310328157 4 #include "defining.h"
shaorui 0:c55310328157 5 #include "stdlib.h"
shaorui 0:c55310328157 6 #include "mbed.h"
shaorui 0:c55310328157 7
shaorui 0:c55310328157 8 class kalmanfilter {
shaorui 0:c55310328157 9 public:
shaorui 0:c55310328157 10 Mat MatInitI(Mat C, int nOrder); /*方阵初始化为单位对角阵*/
shaorui 0:c55310328157 11 Mat3 Mat3Init(Mat3 C, double dNum);
shaorui 0:c55310328157 12 Mat MatInit(Mat C, int nM,int nN, double dNum);
shaorui 0:c55310328157 13 Mat3 Mat3InitI(Mat3 C);
shaorui 0:c55310328157 14 Mat Diag(cVec V, Mat Mout, int nOrder);
shaorui 0:c55310328157 15 Mat MatSum(cMat C1, cMat C2, Mat C, int nM, int nN); /*矩阵加法*/
shaorui 0:c55310328157 16 Mat3 Mat3Sum(cMat3 C1, cMat3 C2, Mat3 C);
shaorui 0:c55310328157 17 Mat3 Mat3Sum3(cMat3 C1, cMat3 C2, cMat3 C3, Mat3 C);
shaorui 0:c55310328157 18 Mat MatSum3(cMat C1, cMat C2, cMat C3, Mat C, int nM, int nN);
shaorui 0:c55310328157 19 Mat MatMinus(cMat C1, cMat C2, Mat C, int nM, int nN); /*矩阵减法*/
shaorui 0:c55310328157 20 Mat3 Mat3Minus(cMat3 C1, cMat3 C2, Mat3 C);
shaorui 0:c55310328157 21 Mat MatCpy(Mat dest, cMat source, int nM, int nN); /*矩阵拷贝*/
shaorui 0:c55310328157 22 Mat3 Mat3Cpy(Mat3 dest,cMat3 source);
shaorui 0:c55310328157 23 Mat MatProd(cMat C1, cMat C2, Mat C, int nM, int nN, int nP); /*矩阵乘法*/
shaorui 0:c55310328157 24 Mat3 Mat3Prod(cMat3 C1, cMat3 C2, Mat3 C);
shaorui 0:c55310328157 25 Mat3 Mat3Prod3(cMat3 C1, cMat3 C2, cMat3 C3, Mat3 C);
shaorui 0:c55310328157 26 Mat MatProd3(cMat C1, cMat C2, cMat C3, Mat C, int nM, int nN, int nP, int nQ);
shaorui 0:c55310328157 27 Mat MatTrans(cMat C,Mat CT,int nM,int nN); /*矩阵转置*/
shaorui 0:c55310328157 28 Mat3 Mat3Trans(cMat3 C,Mat3 CT);
shaorui 0:c55310328157 29 Mat MatInv(cMat C,Mat IC,int n); /*方阵的逆*/
shaorui 0:c55310328157 30 Mat3 Mat3Inv(cMat3 CM,Mat3 ICM);
shaorui 0:c55310328157 31 Mat MatInvDiag(cMat C,Mat IC,int n);
shaorui 0:c55310328157 32 Vec MVProd(cMat C, cVec V, Vec Vout, int nM, int nN); /*矩阵与向量乘法*/
shaorui 0:c55310328157 33 Vec3 MV3Prod(cMat3 C, cVec3 V, Vec3 Vout);
shaorui 0:c55310328157 34 Vec3 VM3Prod(cVec3 V, cMat3 C, Vec3 Vout);
shaorui 0:c55310328157 35 Vec VMProd(cVec V, cMat C, Vec Vout, int nM, int nN);
shaorui 0:c55310328157 36 Vec VecCpy(Vec dest, cVec source, int nOrder); /*向量拷贝*/
shaorui 0:c55310328157 37 nVec nVecCpy(nVec dest, cnVec source, int nOrder);
shaorui 0:c55310328157 38 Vec VecSum(cVec V1, cVec V2, int nOrder, Vec Vout); /*向量加法*/
shaorui 0:c55310328157 39 nVec nVecSum(cnVec V1, cnVec V2, int nOrder, nVec Vout);
shaorui 0:c55310328157 40 Vec VecMinus(cVec V1, cVec V2, int nOrder, Vec Vout); /*向量减法*/
shaorui 0:c55310328157 41 nVec nVecMinus(cnVec V1, cnVec V2, int nOrder, nVec Vout);
shaorui 0:c55310328157 42 Vec Kalman1(cMat Phik_, cMat Gamak_1, cMat Hk, cMat Qk_1, cMat Rk, cMat Pk_1, cVec Xk_1, cVec Zk, cMat Bk_1, cVec Uk_1,
shaorui 0:c55310328157 43 int n, int m, int q, int p, Vec Xk, Mat Pk, Mat Kk, Mat Pk_, Vec Xk_);/*卡尔曼滤波方程*/
shaorui 0:c55310328157 44 };
shaorui 0:c55310328157 45
shaorui 0:c55310328157 46 #endif