mc_filter::LeakyIntegrator< VectorT > Struct Template Reference

#include <mc_filter/LeakyIntegrator.h>

Public Member Functions
	LeakyIntegrator ()
void	add (const VectorT &value, double dt)
const VectorT &	eval () const
double	rate () const
void	rate (double rate)
void	saturation (double s)
void	reset ()

Detailed Description

template<typename VectorT>
struct mc_filter::LeakyIntegrator< VectorT >

Leaky integrator.

The output satisfies the differential equation:

\[ \dot{y}(t) = x(t) - leakRate * y(t) \]

A leaky integrator is implemented exactly as an exponential moving average, but it is homogeneous to the integral of the input signal (rather than the signal itself). See https://en.wikipedia.org/wiki/Leaky_integrator.

Expects VectorT to act as a vector (typically Eigen::Vector3d), supporting:

• VectorT::Zero() static member function
• VectorT::setZero() member
• Component-wise math operator *
• Access operator ()
• VectorT::size()

Constructor & Destructor Documentation

LeakyIntegrator()

template<typename VectorT >

mc_filter::LeakyIntegrator< VectorT >::LeakyIntegrator ( )

inline

Member Function Documentation

add()

template<typename VectorT >

void mc_filter::LeakyIntegrator< VectorT >::add ( const VectorT &  value, double  dt  )

inline

Add constant input for a fixed duration.

Parameters

value	Constant input.
dt	Fixed duration.

eval()

template<typename VectorT >

const VectorT& mc_filter::LeakyIntegrator< VectorT >::eval ( ) const

inline

Evaluate the output of the integrator.

rate() [1/2]

template<typename VectorT >

double mc_filter::LeakyIntegrator< VectorT >::rate ( ) const

inline

Get leak rate.

rate() [2/2]

template<typename VectorT >

void mc_filter::LeakyIntegrator< VectorT >::rate ( double  rate )

inline

Set the leak rate of the integrator.

Parameters

rate	New leak rate.

reset()

template<typename VectorT >

void mc_filter::LeakyIntegrator< VectorT >::reset ( )

inline

Reset integral to zero.

saturation()

template<typename VectorT >

void mc_filter::LeakyIntegrator< VectorT >::saturation ( double  s )

inline

Set output saturation. Disable by providing a negative value.

Parameters

s	Output will saturate between -s and +s.

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

• include/mc_filter/LeakyIntegrator.h