Diff: Kalman/Kalman.h

Revision:

1:bbabbd997d21

Parent:

0:f3bf6c7e2283

--- a/Kalman/Kalman.h	Fri Apr 20 20:39:35 2012 +0000
+++ b/Kalman/Kalman.h	Fri Apr 20 21:56:15 2012 +0000
@@ -10,7 +10,7 @@
 
 class Kalman {
 public:
-    enum measurement_t {SONAR1, SONAR2, SONAR3, IR1, IR2, IR3};
+    enum measurement_t {SONAR1 = 0, SONAR2, SONAR3, IR1, IR2, IR3};
     static const measurement_t maxmeasure = IR3;
     
     Kalman(Motors &motorsin);
@@ -28,7 +28,7 @@
     
 private:
 
-    Matrix<float, 3, 3> Q; //perhaps calculate on the fly? dependant on speed etc?
+    //Matrix<float, 3, 3> Q; //perhaps calculate on the fly? dependant on speed etc?
     
     RFSRF05 sonararray;
     Motors& motors;
@@ -48,13 +48,9 @@
         float value;
         float variance;
     } ;
-     
     
     Mail <measurmentdata, 16> measureMQ;
     
-    
-    
-    
     Thread updatethread;
     void updateloop();
     static void updateloopwrapper(void const *argument){ ((Kalman*)argument)->updateloop(); }