SmoothDerivative.h
Go to the documentation of this file.
00001 #ifndef __SMOOTH_DERIVATIVE_H__
00002 #define __SMOOTH_DERIVATIVE_H__
00003 
00004 #include <iostream>
00005 #include <vector>
00006 
00007 
00008 class SmoothDerivative
00009 {
00010     public:
00011         SmoothDerivative();
00012         SmoothDerivative(std::vector<double> xA, std::vector<double> smoothingA, double frequencyA);
00013         virtual ~SmoothDerivative();
00014         void OnExecute(std::vector<double> xA, std::vector<double> &xDotA);
00015         bool Initialize(std::vector<double> xA, std::vector<double> smoothingA, double frequencyA);
00016         bool isInitialized;
00017 
00018 //    private:
00019 
00020     protected:
00021 
00022         struct MiddleSteps
00023         {
00024             double m_xDot;
00025             double m_smooth;
00026             double m_xPrevSample;
00027             double m_xPrevTransition;
00028             unsigned int m_numTicks;
00029             unsigned int m_numTicksPrev;
00030             unsigned int m_numTransitions;
00031             double m_delta;
00032             double m_innovation;
00033             double m_regression;
00034 
00035         };
00036 
00037         std::vector<MiddleSteps> xDotCalc;
00038 
00039         unsigned int m_size;
00040         double m_freq;
00041         std::vector<double> m_smoothing;
00042 };
00043 
00044 
00045 #endif


robodyn_utilities
Author(s):
autogenerated on Thu Jun 6 2019 18:56:08