Page MenuHomec4science
Files F91357339

kiteEKF.h
No OneTemporary
Actions

File Metadata

Created
Sun, Nov 10, 07:32

kiteEKF.h
View Options

#ifndef KITEEKF_H
#define KITEEKF_H
#include "kite.h"
#include "chrono"
#define DEPRECATED
class KiteEKF
{
public:
KiteEKF(const KiteProperties &KiteProps, const AlgorithmProperties &AlgoProps); DEPRECATED
KiteEKF(std::shared_ptr<KiteDynamics> obj_Kite); DEPRECATED
KiteEKF(const casadi::Function &_Dynamics, const casadi::Function &_Jacobian);
virtual ~KiteEKF(){}
static const casadi::DM SIGMA_Q;
static const casadi::DM SIGMA_R;
static const casadi::DM SIGMA_V;
static const casadi::DM SIGMA_W;
static const casadi::DM DEFAULT_PROCESS_COVARIANCE;
static const casadi::DM DEFAULT_MEASUREMENT_COVARIANCE;
static const casadi::DM DEFAULT_MEASUREMENT_MATRIX;
void setProcessCovariance(const casadi::DM &_W){this->W = _W;}
void setMeasurementCovariance(const casadi::DM &_V){this->V = _V;}
void setEstimationCovariance(const casadi::DM &_P){this->Cov_Est = _P;}
void setEstimation(const casadi::DM &_estimation){this->State_Est = _estimation;}
void setControl(const casadi::DM &_control){this->Control = _control;}
void setTime(const double &_current_time){this->tstamp = _current_time;}
casadi::DM getEstimation(){return this->State_Est;}
casadi::DM getEstimationCovariance(){return this->Cov_Est;}
double getTimeStamp(){return this->tstamp;}
void estimate(const casadi::DM &measurement, const double &_tstamp);
void _estimate(const casadi::DM &measurement, const double &_dt);
/** @brief Kalman filter equations */
void propagate(const double & _dt);
private:
std::shared_ptr<KiteDynamics> Kite;
casadi::DM State_Est;
casadi::DM Cov_Est;
casadi::DM Control;
casadi::Function m_Integrator;
casadi::Function m_Jacobian;
casadi::DM W;
casadi::DM V;
casadi::DM H;
double tstamp;
};
#endif // KITEEKF_H

Event Timeline

c4science · Help