Diff: KamalFilterRSSI.h

Revision:

0:dd8a94919e2e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KamalFilterRSSI.h	Tue Aug 02 18:06:10 2016 +0000
@@ -0,0 +1,39 @@
+/* 
+ * File:   KamalFilterRSSI.h
+ * Author: longdh
+ *
+ * Created on July 12, 2016, 1:04 PM
+ */
+
+#ifndef KAMALFILTERRSSI_H
+#define KAMALFILTERRSSI_H
+
+class KamalFilterRSSI {
+public:
+    KamalFilterRSSI(double q, double r, double p);
+    virtual ~KamalFilterRSSI();
+    
+    void init(double x){ _x = x ;}
+    void setProcessNoiseCovariance(double i){ _q = i; _q_init = i;}
+    void setMeasurementNoiseCovariance(double i){_r = i; _r_init = i ;}
+    void setEstimatiomErrorCovariance(double i){_p = i; _p_init = i ;}
+    virtual double kalmanUpdate(double measurement);
+    void reset(){_q = _q_init; _r = _r_init ; _p = _p_init;};
+    
+    double getProcessNoiseCovariance(){ return _q;}
+    double getMeasurementNoiseCovariance(){return _r;}
+    double getEstimatiomErrorCovariance(){return _p;} 
+    double getKalmanGain() { return _k;}
+    
+private:
+    double _q; //process noise covariance
+    double _q_init;
+    double _r; //measurement noise covariance
+    double _r_init;
+    double _x; //value
+    double _p; //estimation error covariance
+    double _p_init;
+    double _k; //kalman gain
+};
+
+#endif /* KAMALFILTERRSSI_H */