XBot::Utils::SecondOrderFilter< SignalType > Class Template Reference

SecondOrderFilter implements a canonical continuous-time second order filter with transfer function 1 P(s) = --------------------—, w = natural frequency, eps = damping ratio (s/w)^2 + 2*eps/w*s + 1. More...

#include <Utils.h>

Collaboration diagram for XBot::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 ()

Detailed Description

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

SecondOrderFilter implements a canonical continuous-time second order filter with transfer function 1 P(s) = --------------------—, w = natural frequency, eps = damping ratio (s/w)^2 + 2*eps/w*s + 1.

and discretized according to a trapezoidal (aka Tustin) scheme. This yields a difference equation of the following form:

 a0*y + a1*yd + a2*ydd = u + b1*ud + b2*udd

where yd = y(k-1), ydd = y(k-2) and so on (d = delayed).

Member Typedef Documentation

Ptr

template<typename SignalType >

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

Constructor & Destructor Documentation

SecondOrderFilter() [1/2]

template<typename SignalType >

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

inline

SecondOrderFilter() [2/2]

template<typename SignalType >

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

inline

Member Function Documentation

getDamping()

template<typename SignalType >

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

inline

getOmega()

template<typename SignalType >

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

inline

getOutput()

template<typename SignalType >

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

inline

getTimeStep()

template<typename SignalType >

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

inline

process()

template<typename SignalType >

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

inline

reset()

template<typename SignalType >

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

inline

setDamping()

template<typename SignalType >

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

inline

setOmega()

template<typename SignalType >

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

inline

setTimeStep()

template<typename SignalType >

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

inline

---

The documentation for this class was generated from the following file:

• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/Utils.h