kalman.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
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/*******************************************************************************
 * \file kalman.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 *   
 * \brief 2D kalman filter
 *
 ******************************************************************************/


#ifndef KALMAN_H_
#define KALMAN_H_


#ifdef __cplusplus
extern "C" 
{
#endif


#include "small_matrix.h"
#include "linear_algebra.h"


typedef struct kalman_filter_2D_t 
{
    matrix_2x2_t system_model;          
    matrix_2x2_t control_model;         
    matrix_2x2_t observation_model;     
    matrix_2x2_t noise_prediction;      
    matrix_2x2_t noise_measurement;     
    matrix_2x2_t covariance;            
    vector_2_t   state;                 
} kalman_filter_2D_t;


void kalman_2D_prediction(kalman_filter_2D_t *kalman, vector_2_t control);


void kalman_2D_update(kalman_filter_2D_t *kalman, vector_2_t measurement);


#ifdef __cplusplus
}
#endif


#endif /* KALMAN_H_ */