filters.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <cstdlib>
#include <cmath>
 
namespace mrpt
{
namespace math
{
/** @addtogroup filtering_grp Filtering algorithms
  * \ingroup mrpt_base_grp
  *  @{ */
 
/** 1-order low-pass IIR filter.
  * Discrete time equation: `y[k]=alpha*y[k-1]+(1-alpha)*x[k]`.
  * With: x[k] input, y[k] output, alpha a parameter in [0,1]
  */
struct LowPassFilter_IIR1
{
        LowPassFilter_IIR1(double alpha = 0.5, double y_k_minus_1 = .0);
        /** Processes one input sample, updates the filter state and return the
         * filtered value. */
        double filter(double x);
        double getLastOutput() const;
        /** See equation in LowPassFilter_IIR1 */
        double alpha;
 
   private:
        double m_y_km1;
};
 
/** @} */  // end grouping filtering_grp
}  // end NS
}  // end NS