Kalman_V_A_Aoff_observer.h

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/***********************************************************************/
#ifndef APPLICATION_VA_AOFF_OBSERVER_H_
#define APPLICATION_VA_AOFF_OBSERVER_H_
 
#include "embedded_memory.h"
#include "embedded_math.h"
#include <stdint.h>
#include "system_configuration.h"
 
class Kalman_V_A_Aoff_observer_t
{
private:
 
  // constants
  enum
  {
    N = 3,  
    L = 2  
  };
  static constexpr float Ta = 0.01f;            
  static ROM float Gain[N][L];              
 
  // variables
  float x[N];   
 
public:
  typedef enum// state vector components
  {
    VELOCITY, ACCELERATION, ACCELERATION_OFFSET
  }  state;
 
  Kalman_V_A_Aoff_observer_t ( float v=ZERO, float a=ZERO)
    : x{ v, a, 0.0f}
  {}
 
  void update( const float velocity, const float acceleration);
 
  inline float get_x( state index) const
  {
      return x[index];
  };
};
 
#endif /* APPLICATION_VA_OBSERVER_H_ */