AbsSlewFilter.cpp

Go to the documentation of this file.

#include <cstdlib> // for std::abs on integers
#include "robodyn_utilities/AbsSlewFilter.h"

AbsSlewFilter::AbsSlewFilter()
{
}

AbsSlewFilter::~AbsSlewFilter()
{
}

void AbsSlewFilter::setRates(double greaterRate, double lesserRate)
{
    setGreaterRate(greaterRate);
    setLesserRate(lesserRate);
}

void AbsSlewFilter::setGreaterRate(double rate)
{
    greater.setRateLimit(rate);
}

void AbsSlewFilter::setLesserRate(double rate)
{
    lesser.setRateLimit(rate);
}

double AbsSlewFilter::filter(double previous, double current)
{
    double output = current;

    if ((previous * current) < 0)
    {
        output = 0;
    }
    else
    {
        if (std::abs(current) > std::abs(previous))
        {
            output =  greater.getLimitedValue(current, previous);
        }
        else if (std::abs(current) < std::abs(previous))
        {
            output =  lesser.getLimitedValue(current, previous);
        }
    }

    return output;
}

int AbsSlewFilter::filter(int previous, int current)
{
    int output = current;

    if ((previous * current) < 0)
    {
        output = 0;
    }
    else
    {
        if (std::abs(current) > std::abs(previous))
        {
            output =  greater.getLimitedValue(current, previous);
        }
        else if (std::abs(current) < std::abs(previous))
        {
            output =  lesser.getLimitedValue(current, previous);
        }
    }

    return output;
}