Diff: Eurobot_shared/Kalman/Kalman.h

Revision:

16:b3dd4e0b3100

Parent:

15:acae5c0e9ca8

Child:

17:bafcef1c3579

--- a/Eurobot_shared/Kalman/Kalman.h	Sat Apr 28 22:21:03 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,97 +0,0 @@
-#ifndef KALMAN_H
-#define KALMAN_H
-
-#include "globals.h"
-
-
-#include "rtos.h"
-//#include "Matrix.h"
-#include "motors.h"
-#include "RFSRF05.h"
-#include "IR.h"
-#include "ui.h"
-
-#include <tvmet/Matrix.h>
-#include <tvmet/Vector.h>
-using namespace tvmet;
-
-
-class Kalman {
-public:
-    enum measurement_t {SONAR1 = 0, SONAR2, SONAR3, IR1, IR2, IR3};
-    static const measurement_t maxmeasure = IR3;
-
-    Kalman(Motors &motorsin,
-           UI &uiin,
-           PinName Sonar_Trig,
-           PinName Sonar_Echo0,
-           PinName Sonar_Echo1,
-           PinName Sonar_Echo2,
-           PinName Sonar_Echo3,
-           PinName Sonar_Echo4,
-           PinName Sonar_Echo5,
-           PinName Sonar_SDI,
-           PinName Sonar_SDO,
-           PinName Sonar_SCK,
-           PinName Sonar_NCS,
-           PinName Sonar_NIRQ);
-
-    void predict();
-    void runupdate(measurement_t type, float value, float variance);
-
-    //State variables
-    Vector<float, 3> X;
-    Matrix<float, 3, 3> P;
-    Mutex statelock;
-
-    float SonarMeasures[3];
-    float IRMeasures[3];
-    float IR_Offset;
-    float Sonar_Offset;
-    Mutex InitLock;
-
-    bool Kalman_init;
-
-    //The IR is public so it's possible to print the offset in the print function
-    IR ir;
-
-    //Initialises the kalman filter
-    void KalmanInit();
-
-private:
-
-    //Sensor interfaces
-    RFSRF05 sonararray;
-    Motors& motors;
-    UI& ui;
-
-    Thread predictthread;
-    void predictloop();
-    static void predictloopwrapper(void const *argument) {
-        ((Kalman*)argument)->predictloop();
-    }
-    RtosTimer predictticker;
-
-//    Thread sonarthread;
-//    void sonarloop();
-//    static void sonarloopwrapper(void const *argument){ ((Kalman*)argument)->sonarloop(); }
-//    RtosTimer sonarticker;
-
-    struct measurmentdata {
-        measurement_t mtype;
-        float value;
-        float variance;
-    } ;
-
-    Mail <measurmentdata, 16> measureMQ;
-
-    Thread updatethread;
-    void updateloop();
-    static void updateloopwrapper(void const *argument) {
-        ((Kalman*)argument)->updateloop();
-    }
-
-
-};
-
-#endif //KALMAN_H
\ No newline at end of file