mc_filter::StationaryOffset< VectorT > Struct Template Reference

#include <mc_filter/StationaryOffset.h>

Public Member Functions
	StationaryOffset (double dt, double timeConstant, const VectorT &initValue=VectorT::Zero())
void	update (const VectorT &value)
const VectorT &	eval () const
void	reset (const VectorT &initValue)
double	timeConstant () const
void	timeConstant (double T)
void	saturation (double limit)

Detailed Description

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

Remove stationary offset from an input signal.

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

• VectorT::Zero() static member function
• VectorT::setZero() member
• VectorT should also respect the requirements of ExponentialMovingAverage

Constructor & Destructor Documentation

StationaryOffset()

template<typename VectorT >

mc_filter::StationaryOffset< VectorT >::StationaryOffset ( double  dt, double  timeConstant, const VectorT &  initValue = VectorT::Zero()  )

inline

Constructor.

Parameters

dt	Time in [s] between two readings.
timeConstant	Length of recent-past window used to evaluate the stationary offset.
initValue	Initial value of the input signal.

Member Function Documentation

eval()

template<typename VectorT >

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

inline

Get output value where the stationary offset has been filtered.

reset()

template<typename VectorT >

void mc_filter::StationaryOffset< VectorT >::reset ( const VectorT &  initValue )

inline

Reset everything to an initial value

Parameters

initValue

Initial value from which to restart the filter.

saturation()

template<typename VectorT >

void mc_filter::StationaryOffset< VectorT >::saturation ( double  limit )

inline

Set output saturation; disable by providing a negative value.

Parameters

limit

Output will saturate between -limit and +limit.

timeConstant() [1/2]

template<typename VectorT >

double mc_filter::StationaryOffset< VectorT >::timeConstant ( ) const

inline

Get time constant of the filter.

timeConstant() [2/2]

template<typename VectorT >

void mc_filter::StationaryOffset< VectorT >::timeConstant ( double  T )

inline

Update time constant.

Parameters

T	New time constant of the filter.

update()

template<typename VectorT >

void mc_filter::StationaryOffset< VectorT >::update ( const VectorT &  value )

inline

Update input signal value.

Parameters

value

New value.

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

• include/mc_filter/StationaryOffset.h