AttitudeObserver.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file AttitudeObserver.h
 *  \brief The attitude observer class inherits the functionality of the observer class and provides
 *         the space for the the actual filter code for attitude and angular velocity.
 *  \author     $Author: cakinli $
 *  \version $Revision: 1.2 $
 *  \date    $Date: 2005/03/16 18:08:15 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*  
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_ATTITUDE_OBSERVER_H__
#define __SSSL_ATTITUDE_OBSERVER_H__

#include <Filtering/ExtendedKalmanFilter.h>
#include <Observer/Observer.h>
#include <Utils/Measurement.h>
#include <Base/Whorl.h>
#include <vector>
#include <utils/RungeKutta.h>

using namespace std;
using namespace O_SESSAME;

class AttitudeObserver : public Observer {
        
        public:
        
                /*! Constructor */
                AttitudeObserver() { };
                AttitudeObserver(Whorl* ptr_whorl) { 
                        m_whorl = ptr_whorl;
                        int retcode = Initialize();
                        retcode = 0;
                };
        
                /*! Destructor */
                ~AttitudeObserver() { };
        
                // Facilitators
                
                        // Mutators
                
                                /*! Initialize the filter */
                                int Initialize();
                        
                                /*! Run is the funtion that implements the estimator in the derived class Filter */     
                                int Run();
                
        protected:
                
        private:
                
                Vector m_b;
                ExtendedKalmanFilter   ekf;
                Whorl*                 m_whorl;
                Measurement            m_measurements[3];
                
};

#endif

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: AttitudeObserver.h,v $
*       Revision 1.2  2005/03/16 18:08:15  cakinli
*       *** empty log message ***
*       
*       Revision 1.1  2003/08/18 19:38:15  mavandyk
*       *** empty log message ***
*       
*       Revision 1.8  2003/08/13 23:18:22  mavandyk
*       Altered structure as outline in meeting.
*       
*       Revision 1.7  2003/08/06 21:49:27  mavandyk
*       Added comments fixed class structure and runs with config parsig.
*       
*       Revision 1.6  2003/08/01 11:21:52  mavandyk
*       Changed class structure.
*       
*       Revision 1.5  2003/07/21 21:53:59  mavandyk
*       Fixed some syntax errors.
*       
*       Revision 1.4  2003/07/14 20:06:41  mavandyk
*       Fixed calls to Whorl class, and handling of time and measurements.
*       
*       Revision 1.3  2003/07/10 19:50:53  mavandyk
*       Fixed time handling.
*       
*       Revision 1.1  2003/07/04 14:12:29  simpliciter
*       Moved from src directory.
*       
*       Revision 1.1  2003/07/02 21:33:08  mavandyk
*       The observer for the demo.
*       
*       Revision 1.1  2003/06/30 16:06:00  nicmcp
*       replaced the controller files with the Controller files
*       
*       Revision 1.3  2003/06/30 15:51:57  nicmcp
*       made some changes to the controller files
*       
*       Revision 1.2  2003/06/30 14:13:35  simpliciter
*       Modified comments, added log blocks.
*       
*       
*
******************************************************************************/

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