#include <Utils.h>

Collaboration diagram for ROSEE::Utils::SecondOrderFilter< SignalType >:

Public Types
typedef std::shared_ptr< SecondOrderFilter< SignalType > >	Ptr

Public Member Functions
	SecondOrderFilter ()

	SecondOrderFilter (double omega, double eps, double ts, const SignalType &initial_state)

void	reset (const SignalType &initial_state)

const SignalType &	process (const SignalType &input)

const SignalType &	getOutput () const

void	setOmega (double omega)

double	getOmega ()

void	setDamping (double eps)

double	getDamping ()

void	setTimeStep (double ts)

double	getTimeStep ()

Private Member Functions
void	computeCoeff ()

Private Attributes
double	_omega

double	_eps

double	_ts

double	_b1

double	_b2

double	_a0

double	_a1

double	_a2

bool	_reset_has_been_called

SignalType	_y

SignalType	_yd

SignalType	_ydd

SignalType	_u

SignalType	_ud

SignalType	_udd

Detailed Description

template<typename SignalType>
class ROSEE::Utils::SecondOrderFilter< SignalType >

Definition at line 294 of file Utils.h.

Member Typedef Documentation

template<typename SignalType>

typedef std::shared_ptr<SecondOrderFilter<SignalType> > ROSEE::Utils::SecondOrderFilter< SignalType >::Ptr

Definition at line 299 of file Utils.h.

Constructor & Destructor Documentation

template<typename SignalType>

ROSEE::Utils::SecondOrderFilter< SignalType >::SecondOrderFilter ( )

inline

Definition at line 301 of file Utils.h.

                         :
         _omega ( 1.0 ),
         _eps ( 0.8 ),
         _ts ( 0.01 ),
         _reset_has_been_called ( false )
     {
         computeCoeff();
     }

template<typename SignalType>

ROSEE::Utils::SecondOrderFilter< SignalType >::SecondOrderFilter	(	double	omega,
		double	eps,
		double	ts,
		const SignalType &	initial_state
	)

inline

Definition at line 310 of file Utils.h.

                                                                                                :
         _omega ( omega ),
         _eps ( eps ),
         _ts ( ts ),
         _reset_has_been_called ( false )
     {
         computeCoeff();
         reset ( initial_state );
     }

Member Function Documentation

template<typename SignalType>

void ROSEE::Utils::SecondOrderFilter< SignalType >::computeCoeff ( )

inlineprivate

Definition at line 391 of file Utils.h.

     {
         _b1 = 2.0;
         _b2 = 1.0;
 
         _a0 = 1.0 + 4.0*_eps/ ( _omega*_ts ) + 4.0/std::pow ( _omega*_ts, 2.0 );
         _a1 = 2 - 8.0/std::pow ( _omega*_ts, 2.0 );
         _a2 = 1.0 + 4.0/std::pow ( _omega*_ts, 2.0 ) - 4.0*_eps/ ( _omega*_ts );
 
     }

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::getDamping ( )

inline

Definition at line 373 of file Utils.h.

     {
         return _eps;
     }

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::getOmega ( )

inline

Definition at line 362 of file Utils.h.

     {
         return _omega;
     }

template<typename SignalType>

const SignalType& ROSEE::Utils::SecondOrderFilter< SignalType >::getOutput ( ) const

inline

Definition at line 351 of file Utils.h.

     {
         return _y;
     }

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::getTimeStep ( )

inline

Definition at line 384 of file Utils.h.

     {
         return _ts;
     }

template<typename SignalType>

const SignalType& ROSEE::Utils::SecondOrderFilter< SignalType >::process ( const SignalType & input )

inline

Definition at line 331 of file Utils.h.

     {
 
         if ( !_reset_has_been_called ) {
             reset ( input*0 );
         }
 
 
         _ydd = _yd;
         _yd = _y;
         _udd = _ud;
         _ud = _u;
 
 
         _u = input;
         _y = 1.0/_a0 * ( _u + _b1*_ud + _b2*_udd - _a1*_yd - _a2*_ydd );
 
         return _y;
     }

template<typename SignalType>

void ROSEE::Utils::SecondOrderFilter< SignalType >::reset ( const SignalType & initial_state )

inline

Definition at line 320 of file Utils.h.

     {
         _reset_has_been_called = true;
         _u = initial_state;
         _y = initial_state;
         _yd = initial_state;
         _ydd = initial_state;
         _udd = initial_state;
         _ud = initial_state;
     }

template<typename SignalType>

void ROSEE::Utils::SecondOrderFilter< SignalType >::setDamping ( double eps )

inline

Definition at line 367 of file Utils.h.

     {
         _eps = eps;
         computeCoeff();
     }

template<typename SignalType>

void ROSEE::Utils::SecondOrderFilter< SignalType >::setOmega ( double omega )

inline

Definition at line 356 of file Utils.h.

     {
         _omega = omega;
         computeCoeff();
     }

template<typename SignalType>

void ROSEE::Utils::SecondOrderFilter< SignalType >::setTimeStep ( double ts )

inline

Definition at line 378 of file Utils.h.

     {
         _ts = ts;
         computeCoeff();
     }

Member Data Documentation

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_a0

private

Definition at line 407 of file Utils.h.

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_a1

private

Definition at line 407 of file Utils.h.

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_a2

private

Definition at line 407 of file Utils.h.

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_b1

private

Definition at line 406 of file Utils.h.

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_b2

private

Definition at line 406 of file Utils.h.

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_eps

private

Definition at line 403 of file Utils.h.

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_omega

private

Definition at line 402 of file Utils.h.

template<typename SignalType>

bool ROSEE::Utils::SecondOrderFilter< SignalType >::_reset_has_been_called

private

Definition at line 409 of file Utils.h.

template<typename SignalType>

double ROSEE::Utils::SecondOrderFilter< SignalType >::_ts

private

Definition at line 404 of file Utils.h.

template<typename SignalType>

SignalType ROSEE::Utils::SecondOrderFilter< SignalType >::_u

private