Diff: Kalman/Kalman.h

Revision:

0:349dc9b0984f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Kalman/Kalman.h	Sun Mar 25 13:39:11 2012 +0000
@@ -0,0 +1,56 @@
+//#include "rtos.h"
+#include "Matrix.h"
+//#include "RFSRF05.h"
+//#include "motors.h"
+#include "RF12B.h"
+
+//const int wheelmm = 314;
+//const int robotCircumference = 1052;
+//TODO make a globals and defines header file
+//const int wheelbase = 400;
+
+class Kalman {
+public:
+    Kalman();//Motors &motorsin);
+    
+    //void predict();
+    //void runupdate(int sonarid, float dist);
+    
+    //State variables
+    //Matrix X; //(3,1)
+    //Matrix P; //(3,3);
+    //Mutex statelock;
+    
+private:
+
+    //Matrix Q; //perhaps calculate on the fly? dependant on speed etc?
+    float R;
+    
+    //RFSRF05 sonararray;//(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
+    RF12B rflol;
+    //Motors& motors;
+    //Ticker predictticker;
+    
+    //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;
+    
+    //enum measurement_t {SONAR1, SONAR2, SONAR3};
+    //struct measurmentdata {
+    //    measurement_t mtype;
+    //    float value;
+    //};
+    //Mail <measurmentdata, 16> measureMQ;
+    
+    //Thread updatethread;
+    //void updateloop();
+    //static void updateloopwrapper(void const *argument){ ((Kalman*)argument)->updateloop(); }
+    
+    
+};
\ No newline at end of file