lmc_filter_node.h

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#ifndef LMC_FILTER_NODE_H
#define LMC_FILTER_NODE_H
class lpf
{
    public:
        lpf();
        lpf(double);
        void setCutoff(double);
        void setInitialPos(double initial_msrmt, int b_idx, int dim);
        double filter(const double& new_msrmt, int f_idx, int dim);
        double getFilteredMsrmt(int f_idx, int dim);
        double c_;      // Related to the cutoff frequency of the filter.
                        // c = 1 results in a cutoff at 1/4 of the sampling rate.
                        // See bitbucket.org/AndyZe/pid if you want to get more sophisticated.
                        // Larger c --> trust the filtered data more, trust the measurements less.
    private:
        double prev_msrmts_ [6][3][3];
        double prev_filtered_msrmts_ [6][3][2];
};
#endif /* LMC_FILTER_NODE_H */