MRPT  2.0.4
filters.h
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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 |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10
11 #include <cmath>
12 #include <cstdlib>
13
14 namespace mrpt::math
15 {
16 /** @addtogroup filtering_grp Filtering algorithms
17  * \ingroup mrpt_math_grp
18  * @{ */
19
20 /** 1-order low-pass IIR filter.
21  * Discrete time equation: `y[k]=alpha*y[k-1]+(1-alpha)*x[k]`.
22  * With: x[k] input, y[k] output, alpha a parameter in [0,1]
23  */
25 {
26  LowPassFilter_IIR1(double alpha = 0.5, double y_k_minus_1 = .0);
27  /** Processes one input sample, updates the filter state and return the
28  * filtered value. */
29  double filter(double x);
30  double getLastOutput() const;
31  /** See equation in LowPassFilter_IIR1 */
32  double alpha;
33
34  private:
35  double m_y_km1;
36 };
37
38 /** @} */ // end grouping filtering_grp
39 } // namespace mrpt::math
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
1-order low-pass IIR filter.
Definition: filters.h:24
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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