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 typedef struct State {
00011     float x;
00012     float y;
00013     float theta;
00014 } State ;
00015 
00016 //Accessor function to get the state as one consistent struct
00017 State getState();
00018 
00019 //Main loops (to be attached as a thread in main)
00020 void predictloop(void const *dummy);
00021 void updateloop(void const *dummy);
00022 
00023 void start_predict_ticker(Thread* predict_thread_ptr_in);
00024 
00025 enum measurement_t {SONAR0 = 0, SONAR1, SONAR2, IR0, IR1, IR2};
00026 const measurement_t maxmeasure = IR2;
00027 
00028 //Call this to run an update
00029 void runupdate(measurement_t type, float value, float variance);
00030 
00031 extern float RawReadings[maxmeasure+1];
00032 extern float IRpahseOffset;
00033 
00034 extern bool Kalman_inited;
00035 
00036 //Initialises the kalman filter
00037 void KalmanInit();
00038 
00039 }
00040 
00041 #endif //KALMAN_H