Shuto Naruse
Sample of program breaking when a certain set of source files are in a folder, but is fine when it is in the root. In this case, it is tested with RF12B.cpp, RF12B.h and rfdefs
Kalman/Kalman.h@0:349dc9b0984f, 2012-03-25 (annotated)
- Committer:
- narshu
- Date:
- Sun Mar 25 13:39:11 2012 +0000
- Revision:
- 0:349dc9b0984f
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:349dc9b0984f | 1 | //#include "rtos.h" |
| narshu | 0:349dc9b0984f | 2 | #include "Matrix.h" |
| narshu | 0:349dc9b0984f | 3 | //#include "RFSRF05.h" |
| narshu | 0:349dc9b0984f | 4 | //#include "motors.h" |
| narshu | 0:349dc9b0984f | 5 | #include "RF12B.h" |
| narshu | 0:349dc9b0984f | 6 | |
| narshu | 0:349dc9b0984f | 7 | //const int wheelmm = 314; |
| narshu | 0:349dc9b0984f | 8 | //const int robotCircumference = 1052; |
| narshu | 0:349dc9b0984f | 9 | //TODO make a globals and defines header file |
| narshu | 0:349dc9b0984f | 10 | //const int wheelbase = 400; |
| narshu | 0:349dc9b0984f | 11 | |
| narshu | 0:349dc9b0984f | 12 | class Kalman { |
| narshu | 0:349dc9b0984f | 13 | public: |
| narshu | 0:349dc9b0984f | 14 | Kalman();//Motors &motorsin); |
| narshu | 0:349dc9b0984f | 15 | |
| narshu | 0:349dc9b0984f | 16 | //void predict(); |
| narshu | 0:349dc9b0984f | 17 | //void runupdate(int sonarid, float dist); |
| narshu | 0:349dc9b0984f | 18 | |
| narshu | 0:349dc9b0984f | 19 | //State variables |
| narshu | 0:349dc9b0984f | 20 | //Matrix X; //(3,1) |
| narshu | 0:349dc9b0984f | 21 | //Matrix P; //(3,3); |
| narshu | 0:349dc9b0984f | 22 | //Mutex statelock; |
| narshu | 0:349dc9b0984f | 23 | |
| narshu | 0:349dc9b0984f | 24 | private: |
| narshu | 0:349dc9b0984f | 25 | |
| narshu | 0:349dc9b0984f | 26 | //Matrix Q; //perhaps calculate on the fly? dependant on speed etc? |
| narshu | 0:349dc9b0984f | 27 | float R; |
| narshu | 0:349dc9b0984f | 28 | |
| narshu | 0:349dc9b0984f | 29 | //RFSRF05 sonararray;//(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9); |
| narshu | 0:349dc9b0984f | 30 | RF12B rflol; |
| narshu | 0:349dc9b0984f | 31 | //Motors& motors; |
| narshu | 0:349dc9b0984f | 32 | //Ticker predictticker; |
| narshu | 0:349dc9b0984f | 33 | |
| narshu | 0:349dc9b0984f | 34 | //Thread predictthread; |
| narshu | 0:349dc9b0984f | 35 | //void predictloop(); |
| narshu | 0:349dc9b0984f | 36 | //static void predictloopwrapper(void const *argument){ ((Kalman*)argument)->predictloop(); } |
| narshu | 0:349dc9b0984f | 37 | //RtosTimer predictticker; |
| narshu | 0:349dc9b0984f | 38 | |
| narshu | 0:349dc9b0984f | 39 | //Thread sonarthread; |
| narshu | 0:349dc9b0984f | 40 | //void sonarloop(); |
| narshu | 0:349dc9b0984f | 41 | //static void sonarloopwrapper(void const *argument){ ((Kalman*)argument)->sonarloop(); } |
| narshu | 0:349dc9b0984f | 42 | //RtosTimer sonarticker; |
| narshu | 0:349dc9b0984f | 43 | |
| narshu | 0:349dc9b0984f | 44 | //enum measurement_t {SONAR1, SONAR2, SONAR3}; |
| narshu | 0:349dc9b0984f | 45 | //struct measurmentdata { |
| narshu | 0:349dc9b0984f | 46 | // measurement_t mtype; |
| narshu | 0:349dc9b0984f | 47 | // float value; |
| narshu | 0:349dc9b0984f | 48 | //}; |
| narshu | 0:349dc9b0984f | 49 | //Mail <measurmentdata, 16> measureMQ; |
| narshu | 0:349dc9b0984f | 50 | |
| narshu | 0:349dc9b0984f | 51 | //Thread updatethread; |
| narshu | 0:349dc9b0984f | 52 | //void updateloop(); |
| narshu | 0:349dc9b0984f | 53 | //static void updateloopwrapper(void const *argument){ ((Kalman*)argument)->updateloop(); } |
| narshu | 0:349dc9b0984f | 54 | |
| narshu | 0:349dc9b0984f | 55 | |
| narshu | 0:349dc9b0984f | 56 | }; |