mc_filter::LowPassFiniteDifferences< T > Struct Template Reference

#include <mc_filter/LowPassFiniteDifferences.h>

Inheritance diagram for mc_filter::LowPassFiniteDifferences< T >:

Collaboration diagram for mc_filter::LowPassFiniteDifferences< T >:

Public Types
using	LowPassT = LowPass< T >

Public Member Functions
	LowPassFiniteDifferences (double dt, double period)
void	reset (const T &pos, const T &vel)
void	update (const T &newPos)
const T &	prevValue () const
Public Member Functions inherited from mc_filter::LowPass< T >
	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
T	prevValue_
Protected Attributes inherited from mc_filter::LowPass< T >
double	dt_ = 0.005

Detailed Description

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

Low-pass velocity filter from series of position measurements.

Expects T to have:

• T::Zero() static method

Member Typedef Documentation

LowPassT

template<typename T >

using mc_filter::LowPassFiniteDifferences< T >::LowPassT = LowPass<T>

Constructor & Destructor Documentation

LowPassFiniteDifferences()

template<typename T >

mc_filter::LowPassFiniteDifferences< T >::LowPassFiniteDifferences ( double  dt, double  period  )

inline

Constructor with cutoff period.

Parameters

dt	Sampling period.
period	Cutoff period.

Member Function Documentation

prevValue()

template<typename T >

const T& mc_filter::LowPassFiniteDifferences< T >::prevValue ( ) const

inline

reset()

template<typename T >

void mc_filter::LowPassFiniteDifferences< T >::reset ( const T &  pos, const T &  vel  )

inline

Reset filter to initial rest value.

Parameters

pos	Initial position.
vel	Initial velocity.

update()

template<typename T >

void mc_filter::LowPassFiniteDifferences< T >::update ( const T &  newPos )

inline

Update velocity estimate from new position value.

Parameters

newPos

New observed position.

Member Data Documentation

prevValue_

template<typename T >

T mc_filter::LowPassFiniteDifferences< T >::prevValue_

protected

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

• include/mc_filter/LowPassFiniteDifferences.h