mirror of https://github.com/ArduPilot/ardupilot
20 lines
521 B
C++
20 lines
521 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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class PosVelEKF {
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public:
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void init(float pos, float posVar, float vel, float velVar);
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void predict(float dt, float dVel, float dVelNoise);
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void fusePos(float pos, float posVar);
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void fuseVel(float vel, float velVar);
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float getPos() const { return _state[0]; }
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float getVel() const { return _state[1]; }
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float getPosNIS(float pos, float posVar);
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private:
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float _state[2];
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float _cov[3];
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};
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