移植bot4cj

bot4cj/src/cpp/kalman.h

@@ -0,0 +1,25 @@
+
+#ifndef _KALMAN_H
+#define _KALMAN_H
+
+
+typedef struct
+{
+    float X_last; //上一时刻的最优结果  X(k-|k-1)
+    float X_mid;  //当前时刻的预测结果  X(k|k-1)
+    float X_now;  //当前时刻的最优结果  X(k|k)
+    float P_mid;  //当前时刻预测结果的协方差  P(k|k-1)
+    float P_now;  //当前时刻最优结果的协方差  P(k|k)
+    float P_last; //上一时刻最优结果的协方差  P(k-1|k-1)
+    float kg;     //kalman增益
+    float A;      //系统参数
+    float B;
+    float Q;
+    float R;
+    float H;
+} extKalman_t;
+
+void KalmanCreate(extKalman_t* p, float T_Q, float T_R);
+float KalmanFilter(extKalman_t* p, float dat);
+
+#endif