This file contains the definition of the SmoothDerivative class. This computes a first order filtered estimate of the derivative of a signal. Overcomes quantization effects by considering the total time between signal value transitions. More...
#include "robodyn_utilities/SmoothDerivative.h"#include "nasa_common_logging/Logger.h"#include <string.h>#include <stdlib.h>
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Detailed Description
This file contains the definition of the SmoothDerivative class. This computes a first order filtered estimate of the derivative of a signal. Overcomes quantization effects by considering the total time between signal value transitions.
dydt = (y(t[k]) - y(t[k-m])) / (t[k] - t[k-m]), where y(t[k]) != y(t[k-m]) and y(t[k]) = y(t[k-j]), all j<m;
Original code taken from R2 control shell code. Rewritten by S. Michael Goza, Allison Thackston, NASA-JSC, 3/4/2013
Definition in file SmoothDerivative.cpp.