sr_math_utils::filters::AlphaBetaFilter Class Reference

#include <sr_math_utils.hpp>

Public Member Functions
	AlphaBetaFilter (double alpha=0.85, double beta=0.05)
std::pair< double, double >	compute (double xm, double timestamp)

Protected Attributes
double	a
double	b
double	dt
double	rk
double	timestamp_1
std::pair< double, double >	value_derivative
double	vk
double	vk_1
double	xk
double	xk_1

Detailed Description

An alpha beta filter as described on: http://en.wikipedia.org/wiki/Alpha_beta_filter

Definition at line 220 of file sr_math_utils.hpp.

Constructor & Destructor Documentation

sr_math_utils::filters::AlphaBetaFilter::AlphaBetaFilter ( double  alpha = 0.85, double  beta = 0.05  )

inlineexplicit

Definition at line 223 of file sr_math_utils.hpp.

Member Function Documentation

std::pair<double, double> sr_math_utils::filters::AlphaBetaFilter::compute ( double  xm, double  timestamp  )

inline

Computes the filtered value and its derivative.

Parameters

xm	the newly received value.
timestamp	the time at which the last measurement was made (in sec).

Returns

a pair containing the filtered value first, then the derivative.

Definition at line 240 of file sr_math_utils.hpp.

Member Data Documentation

double sr_math_utils::filters::AlphaBetaFilter::a

protected

Definition at line 260 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::b

protected

Definition at line 260 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::dt

protected

Definition at line 265 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::rk

protected

Definition at line 264 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::timestamp_1

protected

Definition at line 265 of file sr_math_utils.hpp.

std::pair<double, double> sr_math_utils::filters::AlphaBetaFilter::value_derivative

protected

Definition at line 267 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::vk

protected

Definition at line 264 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::vk_1

protected

Definition at line 264 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::xk

protected

Definition at line 264 of file sr_math_utils.hpp.

double sr_math_utils::filters::AlphaBetaFilter::xk_1

protected

Definition at line 264 of file sr_math_utils.hpp.

---

The documentation for this class was generated from the following file:

• sr_math_utils.hpp