Diff: VerticalEstimator/VerticalEstimator.h

Revision:

5:b1f5ea192d12

Child:

8:1ad52489f6f3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VerticalEstimator/VerticalEstimator.h	Wed Oct 17 12:13:33 2018 +0000
@@ -0,0 +1,27 @@
+# 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 ;
+};
+# endif