MRPT  2.0.1
filters.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "math-precomp.h" // Precompiled headers
11 
12 #include <mrpt/math/filters.h>
13 
14 using namespace mrpt::math;
15 
16 LowPassFilter_IIR1::LowPassFilter_IIR1(double _alpha, double y_k_minus_1)
17  : alpha(_alpha), m_y_km1(y_k_minus_1)
18 {
19 }
20 
22 {
23  // y[k] = alpha*y[k - 1] + (1 - alpha)*x[k]
24  const double y = alpha * m_y_km1 + (1 - alpha) * x;
25  m_y_km1 = y;
26  return y;
27 }
28 
29 double LowPassFilter_IIR1::getLastOutput() const { return m_y_km1; }
This base provides a set of functions for maths stuff.
LowPassFilter_IIR1(double alpha=0.5, double y_k_minus_1=.0)
Definition: filters.cpp:16
double filter(double x)
Processes one input sample, updates the filter state and return the filtered value.
Definition: filters.cpp:21
double alpha
See equation in LowPassFilter_IIR1.
Definition: filters.h:32
double getLastOutput() const
Definition: filters.cpp:29



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