mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
152edf7189
Using a global .dir-locals.el file is a better alternative than reincluding the same emacs header in every file of the project.
19 lines
443 B
C++
19 lines
443 B
C++
#pragma once
|
|
|
|
class PosVelEKF {
|
|
public:
|
|
void init(float pos, float posVar, float vel, float velVar);
|
|
void predict(float dt, float dVel, float dVelNoise);
|
|
void fusePos(float pos, float posVar);
|
|
void fuseVel(float vel, float velVar);
|
|
|
|
float getPos() const { return _state[0]; }
|
|
float getVel() const { return _state[1]; }
|
|
|
|
float getPosNIS(float pos, float posVar);
|
|
|
|
private:
|
|
float _state[2];
|
|
float _cov[3];
|
|
};
|