#include <sr_math_utils.hpp>
Public Member Functions | |
AlphaBetaFilter (double alpha=0.85, double beta=0.05) | |
std::pair< double, double > | compute (double xm, double timestamp) |
~AlphaBetaFilter () | |
Protected Attributes | |
double | a |
double | b |
double | dt |
double | rk |
double | timestamp_1 |
std::pair< double, double > | value_derivative |
double | vk |
double | vk_1 |
double | xk |
double | xk_1 |
An alpha beta filter as described on: http://en.wikipedia.org/wiki/Alpha_beta_filter
Definition at line 225 of file sr_math_utils.hpp.
sr_math_utils::filters::AlphaBetaFilter::AlphaBetaFilter | ( | double | alpha = 0.85 , |
double | beta = 0.05 |
||
) | [inline] |
Definition at line 228 of file sr_math_utils.hpp.
Definition at line 234 of file sr_math_utils.hpp.
std::pair<double, double> sr_math_utils::filters::AlphaBetaFilter::compute | ( | double | xm, |
double | timestamp | ||
) | [inline] |
Computes the filtered value and its derivative.
xm | the newly received value. |
timestamp | the time at which the last measurement was made (in sec). |
Definition at line 247 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::a [protected] |
Definition at line 267 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::b [protected] |
Definition at line 267 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::dt [protected] |
Definition at line 272 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::rk [protected] |
Definition at line 271 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::timestamp_1 [protected] |
Definition at line 272 of file sr_math_utils.hpp.
std::pair<double, double> sr_math_utils::filters::AlphaBetaFilter::value_derivative [protected] |
Definition at line 274 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::vk [protected] |
Definition at line 271 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::vk_1 [protected] |
Definition at line 271 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::xk [protected] |
Definition at line 271 of file sr_math_utils.hpp.
double sr_math_utils::filters::AlphaBetaFilter::xk_1 [protected] |
Definition at line 271 of file sr_math_utils.hpp.