.. _program_listing_file_src_tap_algorithms_extended_kalman.hpp:

Program Listing for File extended_kalman.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_algorithms_extended_kalman.hpp>` (``src/tap/algorithms/extended_kalman.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   /*
    * Copyright (c) 2019 Sanger_X
    */
   
   #ifndef TAPROOT_EXTENDED_KALMAN_HPP_
   #define TAPROOT_EXTENDED_KALMAN_HPP_
   
   namespace tap
   {
   namespace algorithms
   {
   class ExtendedKalman
   {
   public:
       ExtendedKalman(float tQ, float tR);
   
       float filterData(float dat);
   
       float getLastFiltered() const;
   
       void reset();
   
   private:
       float xLast;  
       float xMid;   
       float xNow;   
       float pMid;   
       float pNow;   
       float pLast;  
       float kg;     
       float A;      
       float B;      
       float Q;      
       float R;      
       float H;      
   };  // class ExtendedKalman
   
   }  // namespace algorithms
   
   }  // namespace tap
   
   #endif  // TAPROOT_EXTENDED_KALMAN_HPP_