tilt-estimator.hpp

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#ifndef TILTESTIMATORHPP
#define TILTESTIMATORHPP
 
#include <state-observation/api.h>
#include <state-observation/observer/zero-delay-observer.hpp>
 
namespace stateObservation
{

class STATE_OBSERVATION_DLLAPI TiltEstimator : public ZeroDelayObserver
{
public:
  TiltEstimator(double alpha, double beta, double gamma, double dt);

  void initEstimator(Vector3 x1 = Vector3::Zero(), Vector3 x2_prime = Vector3::UnitZ(), Vector3 x2 = Vector3::UnitZ());

  void setAlpha(const double alpha)
  {
    alpha_ = alpha;
  }
  double getAlpha() const
  {
    return alpha_;
  }

  void setBeta(const double beta)
  {
    beta_ = beta;
  }
  double getBeta() const
  {
    return beta_;
  }

  void setGamma(const double gamma)
  {
    gamma_ = gamma;
  }
  double getGamma() const
  {
    return gamma_;
  }

  void setSamplingTime(const double dt)
  {
    dt_ = dt;
  }
  double getSamplingTime() const
  {
    return dt_;
  }

  void setMeasurement(const Vector3 & yv_k, const Vector3 & ya_k, const Vector3 & yg_k, TimeIndex k);
 
  using ZeroDelayObserver::setMeasurement;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
protected:
  double alpha_, beta_, gamma_;

  double dt_;

  Vector3 x1_;
  Vector3 x1_hat_;
  Vector3 x2_hat_prime_;
  Vector3 x2_hat_;
  Vector3 dx1_hat;

  StateVector oneStepEstimation_();
};
 
} // namespace stateObservation
 
#endif // TILTESTIMATORHPP