Implements a discrete filter. More...

#include <IIRFilter.hpp>

Public Member Functions
	IIRFilter (std::vector< double > &inputCoeff, std::vector< double > &outputCoef)
	One input constructor.
	IIRFilter (std::vector< std::vector< double > > &inputCoeff, std::vector< double > &outputCoef)
	Multi input constructor.
	IIRFilter (IIRLowPass dummyType, double wn, double csi, double ts)
	Low Pass Filter with sample time ts : wn^2/(s^2 + 2csiwn*s + wn^2)
	IIRFilter (IIRFiltDeriv dummyType, double wn, double csi, double ts)
	Filtered Derivative with sample time ts : (wn^2s)/(s^2 + 2csiwns + wn^2)
	IIRFilter (IIRLowPassButtW dummyType, double wn, double ts)
	4-th order Butterworth Low Pass Filter with sample time ts :
	IIRFilter (IIRFiltDerivButtW dummyType, double wn, double ts)
	Filtered Derivative with sample time ts and 4-th order Butterworth Low Pass Filter:
	IIRFilter (const IIRFilter &t)
	Copy constructor.
IIRFilter &	operator= (const IIRFilter &t)
	Assigment operator =.
void	step (double in, double &out)
	Executes a step of the recursive filter.
void	step (const std::vector< double > &in, double &out)
	Executes a step of the recursive filter, in case of multiple inputs.
	~IIRFilter ()
Private Member Functions
void	_kernelConstructor (std::vector< std::vector< double > > &inputCoeff, std::vector< double > &outputCoeff)
Private Attributes
std::vector< std::vector < double > >	_inCoeff
int	_inNum
int	_order
std::vector< double >	_outCoeff
std::vector< std::list< double > >	_pastIns
std::list< double >	_pastOuts
int	iCo
int	iIn
std::list< double >::iterator	inIt
std::list< double >::iterator	outIt

Detailed Description

Implements a discrete filter.

Author:: Antonio Franchi

Definition at line 69 of file IIRFilter.hpp.

Constructor & Destructor Documentation

TELEKYB_NAMESPACE::IIRFilter::IIRFilter	(	std::vector< double > &	inputCoeff,
		std::vector< double > &	outputCoef
	)

One input constructor.

Parameters:

[in]	inputCoeff	Coefficients of the denominator of the Zeta transform. Ex. If you want b0 + b1z + b2z^2 +z^3 you have to set: inputCoeff[0] = b0, inputCoeff[1] = b1, inputCoeff[2] = b2 Note that the last coefficient is not involved since it is always considered as 1.
[in]	outputCoeff	Coefficients of the numerator of the Zeta transform. Ex. If you want a0 + a1z + a2z^2 + a3*z^3 you have to set: outputCoeff[0] = a0, outputCoeff[1] = a1, outputCoeff[2] = a2, outputCoeff[3] = a3 Note that if outputCoeff.size() > inputCoeff.size() + 1 then outputCoeff is cut at the entry outputCoeff[inputCoeff.size()] (included). This is needed to have a causal filter.

Definition at line 51 of file IIRFilter.cpp.

TELEKYB_NAMESPACE::IIRFilter::IIRFilter	(	std::vector< std::vector< double > > &	inputCoeff,
		std::vector< double > &	outputCoef
	)

Multi input constructor.

Parameters:

[in]	inputCoeff	Vector of Coefficients of the denominators of the Zeta transform for each different input. Ex. If you want b0 + b1z + b2z^2 +z^3 you have to set: inputCoeff[0] = b0, inputCoeff[1] = b1, inputCoeff[2] = b2 Note that the last coefficient is not involved since it is always considered as 1.
[in]	outputCoeff	Coefficients of the numerator of the Zeta transform. Ex. If you want a0 + a1z + a2z^2 + a3*z^3 you have to set: outputCoeff[0] = a0, outputCoeff[1] = a1, outputCoeff[2] = a2, outputCoeff[3] = a3 Note that if outputCoeff.size() > inputCoeff.size() + 1 then outputCoeff is cut at the entry outputCoeff[inputCoeff.size()] (included). This is needed to have a causal filter.

Definition at line 56 of file IIRFilter.cpp.

TELEKYB_NAMESPACE::IIRFilter::IIRFilter	(	IIRLowPass	dummyType,
		double	wn,
		double	csi,
		double	ts
	)

Low Pass Filter with sample time ts : wn^2/(s^2 + 2*csi*wn*s + wn^2)

Parameters:

[in]	dummyType	It indicates the type of filter.
[in]	wn	Natural frequency [rad/s].
[in]	csi	Damping ratio.
[in]	ts	Sampling time [s].

Definition at line 81 of file IIRFilter.cpp.

TELEKYB_NAMESPACE::IIRFilter::IIRFilter	(	IIRFiltDeriv	dummyType,
		double	wn,
		double	csi,
		double	ts
	)

Filtered Derivative with sample time ts : (wn^2*s)/(s^2 + 2*csi*wn*s + wn^2)

Parameters:

[in]	dummyType	It indicates the type of filter.
[in]	wn	Natural frequency [rad/s].
[in]	csi	Damping ratio.
[in]	ts	Sampling time [s].

Definition at line 98 of file IIRFilter.cpp.

TELEKYB_NAMESPACE::IIRFilter::IIRFilter	(	IIRLowPassButtW	dummyType,
		double	wn,
		double	ts
	)

4-th order Butterworth Low Pass Filter with sample time ts :

Parameters:

[in]	dummyType	It indicates the type of filter.
[in]	wn	Natural frequency [rad/s].
[in]	csi	Damping ratio.
[in]	ts	Sampling time [s].

Definition at line 119 of file IIRFilter.cpp.

TELEKYB_NAMESPACE::IIRFilter::IIRFilter	(	IIRFiltDerivButtW	dummyType,
		double	wn,
		double	ts
	)

Filtered Derivative with sample time ts and 4-th order Butterworth Low Pass Filter:

Parameters:

[in]	dummyType	It indicates the type of filter.
[in]	wn	Natural frequency [rad/s].
[in]	csi	Damping ratio.
[in]	ts	Sampling time [s].

Definition at line 179 of file IIRFilter.cpp.

TELEKYB_NAMESPACE::IIRFilter::~IIRFilter ( )

Definition at line 249 of file IIRFilter.cpp.

TELEKYB_NAMESPACE::IIRFilter::IIRFilter ( const IIRFilter & t )

Copy constructor.

Definition at line 60 of file IIRFilter.cpp.

Member Function Documentation

void TELEKYB_NAMESPACE::IIRFilter::_kernelConstructor	(	std::vector< std::vector< double > > &	inputCoeff,
		std::vector< double > &	outputCoeff
	)		`[private]`

Definition at line 34 of file IIRFilter.cpp.

IIRFilter & TELEKYB_NAMESPACE::IIRFilter::operator= ( const IIRFilter & t )

Assigment operator =.

Definition at line 69 of file IIRFilter.cpp.

void TELEKYB_NAMESPACE::IIRFilter::step	(	double	in,
		double &	out
	)

Executes a step of the recursive filter.

Note:: If the filter has more than one input the inputs other than the first are put to zero.

Parameters:

[in]	in	Input value.
[out]	out	Output value.

Definition at line 253 of file IIRFilter.cpp.

void TELEKYB_NAMESPACE::IIRFilter::step	(	const std::vector< double > &	in,
		double &	out
	)

Executes a step of the recursive filter, in case of multiple inputs.

Parameters:

[in]	in	Input values.
[out]	out	Output value.

Definition at line 259 of file IIRFilter.cpp.

Member Data Documentation

std::vector< std::vector<double> > TELEKYB_NAMESPACE::IIRFilter::_inCoeff [private]

Definition at line 71 of file IIRFilter.hpp.

int TELEKYB_NAMESPACE::IIRFilter::_inNum [private]

Definition at line 76 of file IIRFilter.hpp.

int TELEKYB_NAMESPACE::IIRFilter::_order [private]

Definition at line 75 of file IIRFilter.hpp.

std::vector<double> TELEKYB_NAMESPACE::IIRFilter::_outCoeff [private]

Definition at line 72 of file IIRFilter.hpp.

std::vector< std::list<double> > TELEKYB_NAMESPACE::IIRFilter::_pastIns [private]

Definition at line 73 of file IIRFilter.hpp.

std::list<double> TELEKYB_NAMESPACE::IIRFilter::_pastOuts [private]

Definition at line 74 of file IIRFilter.hpp.

int TELEKYB_NAMESPACE::IIRFilter::iCo [private]

Definition at line 78 of file IIRFilter.hpp.

int TELEKYB_NAMESPACE::IIRFilter::iIn [private]

Definition at line 78 of file IIRFilter.hpp.

std::list<double>::iterator TELEKYB_NAMESPACE::IIRFilter::inIt [private]

Definition at line 77 of file IIRFilter.hpp.

std::list<double>::iterator TELEKYB_NAMESPACE::IIRFilter::outIt [private]

Definition at line 77 of file IIRFilter.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation