//
// Created by SJQ on 2024/3/7.
//
#include "kalman_filter.h"
#include "bsp_dwt.h"
#ifndef WHEEL_LEGGED_ESTIMATOR_H
#define WHEEL_LEGGED_ESTIMATOR_H


class estimator {
public:
    estimator(float process_noise, float measure_noise);
    void get_result(float state[2]);
    void update(float x,float x_dot,float ax);

private:
    KalmanFilter_t EstimateKF_; //使用KF作为状态观测器
    float Estimate_X_[2]; //观测器估计的状态量
    uint32_t DWT_CNT_;  //计时用
    float dt_;
};


#endif //WHEEL_LEGGED_ESTIMATOR_H