Go to the documentation of this file.00001 #ifndef LP_FILTER_H
00002 #define LP_FILTER_H
00003
00004 #include <vector>
00005 #include <ros/ros.h>
00006 #include <math.h>
00007
00008 class LPFilter
00009 {
00010 public:
00011 LPFilter(double deltaT, double cutoffFrequency, int numElements);
00012 bool update(std::vector<double> input, std::vector<double>& output);
00013
00014 private:
00015 bool initialized;
00016 int noElements;
00017 std::vector<double> in1, in2, out1, out2;
00018 double omega_a;
00019 double a0, a1, a2, b1, b2;
00020 };
00021
00022 #endif