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/*
* SimpleKalmanFilter - a Kalman Filter implementation for single variable models.
* Created by Denys Sene, January, 1, 2017.
* Released under MIT License - see LICENSE file for details.
*/
#ifndef SimpleKalmanFilter_h
#define SimpleKalmanFilter_h
class SimpleKalmanFilter
{
public:
SimpleKalmanFilter(float mea_e, float est_e, float q);
float updateEstimate(float mea);
void setMeasurementError(float mea_e);
void setEstimateError(float est_e);
void setProcessNoise(float q);
float getKalmanGain();
float getEstimateError();
private:
float _err_measure;
float _err_estimate;
float _q;
float _current_estimate = 0;
float _last_estimate = 0;
float _kalman_gain = 0;
};
#endif
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