Kalman.h

00001 //#include "rtos.h"
00002 #include "Matrix.h"
00003 //#include "RFSRF05.h"
00004 //#include "motors.h"
00005 #include "RF12B.h"
00006 
00007 //const int wheelmm = 314;
00008 //const int robotCircumference = 1052;
00009 //TODO make a globals and defines header file
00010 //const int wheelbase = 400;
00011 
00012 class Kalman {
00013 public:
00014     Kalman();//Motors &motorsin);
00015     
00016     //void predict();
00017     //void runupdate(int sonarid, float dist);
00018     
00019     //State variables
00020     //Matrix X; //(3,1)
00021     //Matrix P; //(3,3);
00022     //Mutex statelock;
00023     
00024 private:
00025 
00026     //Matrix Q; //perhaps calculate on the fly? dependant on speed etc?
00027     float R;
00028     
00029     //RFSRF05 sonararray;//(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9);
00030     RF12B rflol;
00031     //Motors& motors;
00032     //Ticker predictticker;
00033     
00034     //Thread predictthread;
00035     //void predictloop();
00036     //static void predictloopwrapper(void const *argument){ ((Kalman*)argument)->predictloop(); }
00037     //RtosTimer predictticker;
00038     
00039     //Thread sonarthread;
00040     //void sonarloop();
00041     //static void sonarloopwrapper(void const *argument){ ((Kalman*)argument)->sonarloop(); }
00042     //RtosTimer sonarticker;
00043     
00044     //enum measurement_t {SONAR1, SONAR2, SONAR3};
00045     //struct measurmentdata {
00046     //    measurement_t mtype;
00047     //    float value;
00048     //};
00049     //Mail <measurmentdata, 16> measureMQ;
00050     
00051     //Thread updatethread;
00052     //void updateloop();
00053     //static void updateloopwrapper(void const *argument){ ((Kalman*)argument)->updateloop(); }
00054     
00055     
00056 };