Lowpass filter class. More...
#include <lmc_filter_node.h>
Public Member Functions | |
| double | filter (const double &new_msrmt, int f_idx, int dim) |
| This is used to filter the position values of a bone. | |
| double | getFilteredMsrmt (int f_idx, int dim) |
| This is used to get a filtered value of a bone. | |
| lpf () | |
| Uses default values for initial setup. | |
| lpf (double) | |
| Uses parameter server values for initial setup. | |
| void | setCutoff (double) |
| Use this to change the cutoff of a lpf object. | |
| void | setInitialPos (double initial_msrmt, int b_idx, int dim) |
| This is used to set the inital position values of a filter. | |
Public Attributes | |
| double | c_ |
Private Attributes | |
| double | prev_filtered_msrmts_ [6][3][2] |
| double | prev_msrmts_ [6][3][3] |
Lowpass filter class.
This is a 2nd-order Butterworth LPF that is used to filter the hand x, y, z coordinates coming from the Leap Controller via Human.msg Refer to Julius O. Smith III, Intro. to Digital Filters with Audio Applications
Definition at line 10 of file lmc_filter_node.h.
| lpf::lpf | ( | ) |
Uses default values for initial setup.
Called when a Lpf object is created with this constructor.
Definition at line 23 of file lmc_filter_node.cpp.
| lpf::lpf | ( | double | cutoff | ) |
Uses parameter server values for initial setup.
Called when a Lpf object is created with this constructor.
| cutoff | Related to the cutoff frequency of the filter. |
Definition at line 35 of file lmc_filter_node.cpp.
| double lpf::filter | ( | const double & | new_msrmt, |
| int | b_idx, | ||
| int | dim | ||
| ) |
This is used to filter the position values of a bone.
See bitbucket.org/AndyZe/pid if you want to get more sophisticated. Larger c --> trust the filtered data more, trust the measurements less.
| new_msrmt | New measurement that will be used to calculate the new filtered value. |
| b_idx | Used to access the values of the bone using that index. |
| dim | Each bone has a coordinate of x, y, z (0, 1, 2). |
Definition at line 79 of file lmc_filter_node.cpp.
| double lpf::getFilteredMsrmt | ( | int | b_idx, |
| int | dim | ||
| ) |
This is used to get a filtered value of a bone.
| b_idx | Used to access the values of the bone using that index. |
| dim | Each bone has a coordinate of x, y, z (0, 1, 2). |
Definition at line 103 of file lmc_filter_node.cpp.
| void lpf::setCutoff | ( | double | cutoff | ) |
Use this to change the cutoff of a lpf object.
Use this to change the cutoff of a lpf object.
| cutoff | Related to the cutoff frequency of the filter. |
Definition at line 47 of file lmc_filter_node.cpp.
| void lpf::setInitialPos | ( | double | initial_msrmt, |
| int | b_idx, | ||
| int | dim | ||
| ) |
This is used to set the inital position values of a filter.
| initial_msrmt | Measurement will be used as the base for further filtering. |
| b_idx | Used to access the values of the bone using that index. |
| dim | Each bone has a value of x, y, z (0, 1, 2). |
Definition at line 59 of file lmc_filter_node.cpp.
| double lpf::c_ |
Definition at line 19 of file lmc_filter_node.h.
double lpf::prev_filtered_msrmts_[6][3][2] [private] |
Definition at line 25 of file lmc_filter_node.h.
double lpf::prev_msrmts_[6][3][3] [private] |
Definition at line 24 of file lmc_filter_node.h.