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/*
* kalman.h
*
* Created on: 01.12.2010
* Author: Laurens Mackay
*/
#ifndef KALMAN_H_
#define KALMAN_H_
#include "matrix.h"
#define KALMAN_MAX_STATES 12
#define KALMAN_MAX_MEASUREMENTS 9
typedef struct {
int states;
int measurements;
matrix_t a;
matrix_t c;
matrix_t gain_start;
matrix_t gain;
matrix_t x_apriori;
matrix_t x_aposteriori;
float gainfactor;
int gainfactorsteps;
} kalman_t;
void kalman_init(kalman_t *kalman, int states, int measurements, m_elem a[],
m_elem c[], m_elem gain_start[], m_elem gain[], m_elem x_apriori[],
m_elem x_aposteriori[], int gainfactorsteps);
void kalman_predict(kalman_t *kalman);
void kalman_correct(kalman_t *kalman, m_elem measurement_a[], m_elem mask_a[]);
m_elem kalman_get_state(kalman_t *kalman, int state);
#endif /* KALMAN_H_ */
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