ekfFilter.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/filter/filter.hpp"
#include "okapi/api/util/mathUtil.hpp"
 
namespace okapi {
class EKFFilter : public Filter {
  public:
  explicit EKFFilter(double iQ = 0.0001, double iR = ipow(0.2, 2));
 
  double filter(double ireading) override;
 
  virtual double filter(double ireading, double icontrol);
 
  double getOutput() const override;
 
  protected:
  const double Q, R;
  double xHat = 0;
  double xHatPrev = 0;
  double xHatMinus = 0;
  double P = 0;
  double Pprev = 1;
  double Pminus = 0;
  double K = 0;
};
} // namespace okapi