iCub::ctrl::FirstOrderLowPassFilter Class Reference

First order low pass filter implementing the transfer function H(s) = \frac{1}{1+\tau s}. More...

#include <filters.h>

Inheritance diagram for iCub::ctrl::FirstOrderLowPassFilter:

Public Member Functions
	FirstOrderLowPassFilter (const double cutFrequency, const double sampleTime, const yarp::sig::Vector &y0=yarp::sig::Vector(1, 0.0))
	Creates a filter with specified parameters.
virtual	~FirstOrderLowPassFilter ()
	Destructor.
virtual void	init (const yarp::sig::Vector &y0)
	Internal state reset.
bool	setCutFrequency (const double cutFrequency)
	Change the cut frequency of the filter.
bool	setSampleTime (const double sampleTime)
	Change the sample time of the filter.
double	getCutFrequency ()
	Retrieve the cut frequency of the filter.
double	getSampleTime ()
	Retrieve the sample time of the filter.
virtual const yarp::sig::Vector &	filt (const yarp::sig::Vector &u)
	Performs filtering on the actual input.
virtual const yarp::sig::Vector &	output () const
	Return current filter output.
Public Member Functions inherited from iCub::ctrl::IFilter
virtual	~IFilter ()
	Destructor.

Protected Member Functions
void	computeCoeff ()

Protected Attributes
Filter *	filter
double	fc
double	Ts
yarp::sig::Vector	y

Detailed Description

First order low pass filter implementing the transfer function H(s) = \frac{1}{1+\tau s}.

Definition at line 243 of file filters.h.

Constructor & Destructor Documentation

FirstOrderLowPassFilter()

FirstOrderLowPassFilter::FirstOrderLowPassFilter	(	const double	cutFrequency,
		const double	sampleTime,
		const yarp::sig::Vector &	y0 = yarp::sig::Vector(1,0.0)
	)

Creates a filter with specified parameters.

Parameters

cutFrequency	cut frequency (Hz).
sampleTime	sample time (s).
y0	initial output.

Definition at line 218 of file filters.cpp.

~FirstOrderLowPassFilter()

FirstOrderLowPassFilter::~FirstOrderLowPassFilter ( )

virtual

Destructor.

Definition at line 231 of file filters.cpp.

Member Function Documentation

computeCoeff()

void FirstOrderLowPassFilter::computeCoeff ( )

protected

Definition at line 282 of file filters.cpp.

filt()

const Vector & FirstOrderLowPassFilter::filt ( const yarp::sig::Vector &  u )

virtual

Performs filtering on the actual input.

Parameters

u	reference to the actual input.

Returns

the corresponding output.

Implements iCub::ctrl::IFilter.

Definition at line 272 of file filters.cpp.

getCutFrequency()

double iCub::ctrl::FirstOrderLowPassFilter::getCutFrequency ( )

inline

Retrieve the cut frequency of the filter.

Returns

the cut frequency (Hz).

Definition at line 290 of file filters.h.

getSampleTime()

double iCub::ctrl::FirstOrderLowPassFilter::getSampleTime ( )

inline

Retrieve the sample time of the filter.

Returns

the sample time (s).

Definition at line 296 of file filters.h.

init()

void FirstOrderLowPassFilter::init ( const yarp::sig::Vector &  y0 )

virtual

Internal state reset.

Parameters

y0	new internal state.

Implements iCub::ctrl::IFilter.

Definition at line 238 of file filters.cpp.

output()

virtual const yarp::sig::Vector & iCub::ctrl::FirstOrderLowPassFilter::output ( ) const

inlinevirtual

Return current filter output.

Returns

the filter output.

Implements iCub::ctrl::IFilter.

Definition at line 309 of file filters.h.

setCutFrequency()

bool FirstOrderLowPassFilter::setCutFrequency

(

const double

cutFrequency

)

Change the cut frequency of the filter.

Parameters

cutFrequency

the new cut frequency (Hz).

Definition at line 246 of file filters.cpp.

setSampleTime()

bool FirstOrderLowPassFilter::setSampleTime

(

const double

sampleTime

)

Change the sample time of the filter.

Parameters

sampleTime

the new sample time (s).

Definition at line 259 of file filters.cpp.

Member Data Documentation

fc

double iCub::ctrl::FirstOrderLowPassFilter::fc

protected

Definition at line 247 of file filters.h.

filter

Filter* iCub::ctrl::FirstOrderLowPassFilter::filter

protected

Definition at line 246 of file filters.h.

Ts

double iCub::ctrl::FirstOrderLowPassFilter::Ts

protected

Definition at line 248 of file filters.h.

y

yarp::sig::Vector iCub::ctrl::FirstOrderLowPassFilter::y

protected

Definition at line 249 of file filters.h.

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

• icub-main/src/libraries/ctrlLib/include/iCub/ctrl/filters.h
• icub-main/src/libraries/ctrlLib/src/filters.cpp