28 lines
572 B
C
28 lines
572 B
C
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//
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// Created by hshine on 23-10-10.
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//
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#ifndef RM2023_POWER_RUNE_RUNE_TRACKER_H
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#define RM2023_POWER_RUNE_RUNE_TRACKER_H
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#include "ExtendedKalmanFilter.h"
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namespace rm_power_rune {
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class rune_tracker {
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private:
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ExtendedKalmanFilter rune_ekf_;
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Eigen::VectorXd observe_;
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double dt_;
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public:
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Eigen::VectorXd state_;
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rune_tracker(double a0,double w0,double phi0,double r0);
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void track(double r,double v,double dt);
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double get_velocity();
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};
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} // rm_rune
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#endif //RM2023_POWER_RUNE_RUNE_TRACKER_H
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