public IMU(int dt) { accel = new Accelerometer(); mag = new Magnometer(); gyro = new Gyroscope(); g = new GPS(); K = new Kalman(dt); }
public void KalmanFilter() { mousePoints = new List <PointF>(); kalmanPoints = new List <PointF>(); kal = new Kalman(4, 2, 0); syntheticData = new SyntheticData(); Matrix <float> state = new Matrix <float>(new float[] { 0.0f, 0.0f, 0.0f, 0.0f }); kal.CorrectedState = state; kal.TransitionMatrix = syntheticData.transitionMatrix; kal.MeasurementNoiseCovariance = syntheticData.measurementNoise; kal.ProcessNoiseCovariance = syntheticData.processNoise; kal.ErrorCovariancePost = syntheticData.errorCovariancePost; kal.MeasurementMatrix = syntheticData.measurementMatrix; }