mrpt::math::LowPassFilter_IIR1 Struct Reference

Detailed Description

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]

Definition at line 26 of file filters.h.

#include <mrpt/math/filters.h>

Public Member Functions
	LowPassFilter_IIR1 (double alpha=0.5, double y_k_minus_1=.0)
double	filter (double x)
	Processes one input sample, updates the filter state and return the filtered value. More...
double	getLastOutput () const

Public Attributes
double	alpha
	See equation in LowPassFilter_IIR1. More...

Private Attributes
double	m_y_km1

Constructor & Destructor Documentation

LowPassFilter_IIR1()

LowPassFilter_IIR1::LowPassFilter_IIR1	(	double	alpha = 0.5,
		double	y_k_minus_1 = .0
	)

Definition at line 16 of file filters.cpp.

Member Function Documentation

filter()

double LowPassFilter_IIR1::filter

(

double

x

)

Processes one input sample, updates the filter state and return the filtered value.

Definition at line 21 of file filters.cpp.

References alpha, and m_y_km1.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

getLastOutput()

double LowPassFilter_IIR1::getLastOutput

(

)

const

Definition at line 29 of file filters.cpp.

References m_y_km1.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

Member Data Documentation

alpha

double mrpt::math::LowPassFilter_IIR1::alpha

See equation in LowPassFilter_IIR1.

Definition at line 34 of file filters.h.

Referenced by filter().

m_y_km1

double mrpt::math::LowPassFilter_IIR1::m_y_km1

private

Definition at line 37 of file filters.h.

Referenced by filter(), and getLastOutput().