Diff: VerticalEstimator/VerticalEstimator.h

Branch:

yuri

Revision:

8:1ad52489f6f3

Parent:

5:b1f5ea192d12

--- a/VerticalEstimator/VerticalEstimator.h	Wed Oct 17 12:18:29 2018 +0000
+++ b/VerticalEstimator/VerticalEstimator.h	Fri Nov 30 19:23:29 2018 +0000
@@ -1,27 +1,31 @@
-# ifndef VerticalEstimator_h
+#ifndef VerticalEstimator_h
 #define VerticalEstimator_h
+
 #include "mbed.h"
 #include "Library.h"
 #include "VL53L0X.h"
+
+
 // Vertical estimator class
 class VerticalEstimator
 {
-    public:
-        
-        // Class constructor
-        VerticalEstimator () ;
-        // Initialize class
-        void init () ;
-        // Predict vertical position and velocity from model
-        void predict () ;
-        // Correct vertical position and velocity with measurement
-        void correct ( float phi , float theta );
-        // Vertical position (m) and velocity (m/s) estimation
-        float z, w;
-    private:
-        // Range sensor object
-        VL53L0X range ;
-        // Last vertical position (m) measurement
-        float z_m_last ;
+public :
+//Class constructor
+    VerticalEstimator () ;
+// Initialize class
+    void init () ;
+// Predict vertical position and velocity from model
+    void predict () ;
+// Correct vertical position and velocity with measurement
+    void correct (float phi, float theta);
+// Vertical position (m) and velocity (m/s) estimation
+    float w_est, z_est;
+
+private :
+// Range sensor object
+    VL53L0X range ;
+// Last vertical position (m) measurement
+    float z, w, zml, wm, zm;
 };
+
 # endif