| 1 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> |
|---|
| 2 | <html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"> |
|---|
| 3 | <title>mixpp: ekf.h Source File</title> |
|---|
| 4 | <link href="tabs.css" rel="stylesheet" type="text/css"> |
|---|
| 5 | <link href="doxygen.css" rel="stylesheet" type="text/css"> |
|---|
| 6 | </head><body> |
|---|
| 7 | <!-- Generated by Doxygen 1.5.8 --> |
|---|
| 8 | <script type="text/javascript"> |
|---|
| 9 | <!-- |
|---|
| 10 | function changeDisplayState (e){ |
|---|
| 11 | var num=this.id.replace(/[^[0-9]/g,''); |
|---|
| 12 | var button=this.firstChild; |
|---|
| 13 | var sectionDiv=document.getElementById('dynsection'+num); |
|---|
| 14 | if (sectionDiv.style.display=='none'||sectionDiv.style.display==''){ |
|---|
| 15 | sectionDiv.style.display='block'; |
|---|
| 16 | button.src='open.gif'; |
|---|
| 17 | }else{ |
|---|
| 18 | sectionDiv.style.display='none'; |
|---|
| 19 | button.src='closed.gif'; |
|---|
| 20 | } |
|---|
| 21 | } |
|---|
| 22 | function initDynSections(){ |
|---|
| 23 | var divs=document.getElementsByTagName('div'); |
|---|
| 24 | var sectionCounter=1; |
|---|
| 25 | for(var i=0;i<divs.length-1;i++){ |
|---|
| 26 | if(divs[i].className=='dynheader'&&divs[i+1].className=='dynsection'){ |
|---|
| 27 | var header=divs[i]; |
|---|
| 28 | var section=divs[i+1]; |
|---|
| 29 | var button=header.firstChild; |
|---|
| 30 | if (button!='IMG'){ |
|---|
| 31 | divs[i].insertBefore(document.createTextNode(' '),divs[i].firstChild); |
|---|
| 32 | button=document.createElement('img'); |
|---|
| 33 | divs[i].insertBefore(button,divs[i].firstChild); |
|---|
| 34 | } |
|---|
| 35 | header.style.cursor='pointer'; |
|---|
| 36 | header.onclick=changeDisplayState; |
|---|
| 37 | header.id='dynheader'+sectionCounter; |
|---|
| 38 | button.src='closed.gif'; |
|---|
| 39 | section.id='dynsection'+sectionCounter; |
|---|
| 40 | section.style.display='none'; |
|---|
| 41 | section.style.marginLeft='14px'; |
|---|
| 42 | sectionCounter++; |
|---|
| 43 | } |
|---|
| 44 | } |
|---|
| 45 | } |
|---|
| 46 | window.onload = initDynSections; |
|---|
| 47 | --> |
|---|
| 48 | </script> |
|---|
| 49 | <div class="navigation" id="top"> |
|---|
| 50 | <div class="tabs"> |
|---|
| 51 | <ul> |
|---|
| 52 | <li><a href="main.html"><span>Main Page</span></a></li> |
|---|
| 53 | <li><a href="pages.html"><span>Related Pages</span></a></li> |
|---|
| 54 | <li><a href="modules.html"><span>Modules</span></a></li> |
|---|
| 55 | <li><a href="annotated.html"><span>Classes</span></a></li> |
|---|
| 56 | <li class="current"><a href="files.html"><span>Files</span></a></li> |
|---|
| 57 | </ul> |
|---|
| 58 | </div> |
|---|
| 59 | <div class="tabs"> |
|---|
| 60 | <ul> |
|---|
| 61 | <li><a href="files.html"><span>File List</span></a></li> |
|---|
| 62 | <li><a href="globals.html"><span>File Members</span></a></li> |
|---|
| 63 | </ul> |
|---|
| 64 | </div> |
|---|
| 65 | <h1>ekf.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************</span> |
|---|
| 66 | <a name="l00002"></a>00002 <span class="comment"> Extended Kalman Filter</span> |
|---|
| 67 | <a name="l00003"></a>00003 <span class="comment"> Kalman Observer</span> |
|---|
| 68 | <a name="l00004"></a>00004 <span class="comment"></span> |
|---|
| 69 | <a name="l00005"></a>00005 <span class="comment"> Z. Peroutka</span> |
|---|
| 70 | <a name="l00006"></a>00006 <span class="comment"></span> |
|---|
| 71 | <a name="l00007"></a>00007 <span class="comment">Rev. 15.3.2008</span> |
|---|
| 72 | <a name="l00008"></a>00008 <span class="comment"></span> |
|---|
| 73 | <a name="l00009"></a>00009 <span class="comment"> EKF pocitan s daty ve formatu Q15, zatimco regulace pracuje v Q13 -></span> |
|---|
| 74 | <a name="l00010"></a>00010 <span class="comment"> resenim je vynasobit referencni hodnoty v EKF 4-mi (tim je automaticky</span> |
|---|
| 75 | <a name="l00011"></a>00011 <span class="comment"> zajisten prechod mezi formaty Q13 a Q15). Realizovano konstantou K_PREVOD_FORM.</span> |
|---|
| 76 | <a name="l00012"></a>00012 <span class="comment"></span> |
|---|
| 77 | <a name="l00013"></a>00013 <span class="comment">15.3.2008 Kontrola kodu + zamena datovych typu q15->int a q30->long.</span> |
|---|
| 78 | <a name="l00014"></a>00014 <span class="comment"></span> |
|---|
| 79 | <a name="l00015"></a>00015 <span class="comment">*************************************/</span> |
|---|
| 80 | <a name="l00016"></a>00016 |
|---|
| 81 | <a name="l00017"></a>00017 <span class="comment">/* Declaration of global functions */</span> |
|---|
| 82 | <a name="l00018"></a>00018 <span class="keywordtype">void</span> init_ekf(<span class="keywordtype">double</span> Tv, <span class="keywordtype">double</span> *param); |
|---|
| 83 | <a name="l00019"></a>00019 <span class="keywordtype">void</span> ekf(<span class="keywordtype">double</span> *x_estimation, <span class="keywordtype">double</span> Umd, <span class="keywordtype">double</span> beta, <span class="keywordtype">double</span> Ucnd, <span class="keywordtype">double</span> Ucd, <span class="keywordtype">double</span> isxd, <span class="keywordtype">double</span> isyd); |
|---|
| 84 | <a name="l00020"></a>00020 |
|---|
| 85 | <a name="l00021"></a>00021 <span class="comment">// pouze pro ucely ladeni</span> |
|---|
| 86 | <a name="l00022"></a>00022 <span class="keyword">extern</span> <span class="keywordtype">double</span> ladeni_EKF[10]; |
|---|
| 87 | <a name="l00023"></a>00023 |
|---|
| 88 | </pre></div></div> |
|---|
| 89 | <hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 23 21:06:42 2009 for mixpp by |
|---|
| 90 | <a href="http://www.doxygen.org/index.html"> |
|---|
| 91 | <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address> |
|---|
| 92 | </body> |
|---|
| 93 | </html> |
|---|
