SlewFilter.h

Go to the documentation of this file.

#ifndef SLEW_FILTER_H
#define SLEW_FILTER_H

#include "robodyn_utilities/RateLimiter.h"

class SlewFilter
{
public:
    SlewFilter();
    virtual ~SlewFilter();

    void setRates(double positiveRate, double negativeRate);
    void setPositiveRate(double rate);
    void setNegativeRate(double rate);

    double filter(double previous, double current);
    int    filter(int previous,    int current);

private:
    RateLimiter positive, negative;
};

#endif