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18 lines
443 B
18 lines
443 B
#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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