mc_filter::LowPass< T > Struct Template Reference

#include <mc_filter/LowPass.h>

Inheritance diagram for mc_filter::LowPass< T >:

Public Member Functions
	LowPass (double dt, double period=0)
double	cutoffPeriod () const
void	cutoffPeriod (double period)
void	reset (const T &value)
void	update (const T &newValue)
const T &	eval () const
double	dt () const
void	dt (double dt)

Protected Attributes
double	dt_ = 0.005

Detailed Description

template<typename T>
struct mc_filter::LowPass< T >

Low-pass filter from series of velocity measurements.

Expects T to have:

• T::Zero() static method (e.g Eigen::Vector3d, etc)

Constructor & Destructor Documentation

LowPass()

template<typename T >

mc_filter::LowPass< T >::LowPass ( double  dt, double  period = 0  )

inline

Constructor with cutoff period.

Parameters

dt	Sampling period.
period	Cutoff period.

Member Function Documentation

cutoffPeriod() [1/2]

template<typename T >

double mc_filter::LowPass< T >::cutoffPeriod ( ) const

inline

Get cutoff period.

cutoffPeriod() [2/2]

template<typename T >

void mc_filter::LowPass< T >::cutoffPeriod ( double  period )

inline

Set cutoff period.

Parameters

period

New cutoff period.

Note

period is explicitely enforced to respect the Nyquist–Shannon sampling theorem, that is T is at least 2*timestep.

dt() [1/2]

template<typename T >

double mc_filter::LowPass< T >::dt ( ) const

inline

Get sampling period.

dt() [2/2]

template<typename T >

void mc_filter::LowPass< T >::dt ( double  dt )

inline

Set sampling period.

Parameters

dt	Sampling period.

Note

the cutoff period is updated to satisfy the Nyquist–Shannon sampling theorem according the new sampling period.

eval()

template<typename T >

const T& mc_filter::LowPass< T >::eval ( ) const

inline

Get filtered velocity.

reset()

template<typename T >

void mc_filter::LowPass< T >::reset ( const T &  value )

inline

Reset position to an initial rest value.

Parameters

pos	New position.

update()

template<typename T >

void mc_filter::LowPass< T >::update ( const T &  newValue )

inline

Update velocity estimate from new position value.

Parameters

newPos

New observed position.

Member Data Documentation

dt_

template<typename T >

double mc_filter::LowPass< T >::dt_ = 0.005

protected

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The documentation for this struct was generated from the following file:

• include/mc_filter/LowPass.h