IIRFilter Class Reference

#include <IIRFilter.h>

Public Member Functions
double	executeFilter (double input)
	Execute filtering, this method will be obsolated. More...
void	getParameter (int &dim, std::vector< double > &A, std::vector< double > &B)
	IIRFilter (const std::string &error_prefix="")
	Constructor. More...
	IIRFilter (unsigned int dim, std::vector< double > &fb_coeffs, std::vector< double > &ff_coeffs, const std::string &error_prefix="")
	Constructor, this constructure will be obsolated. More...
double	passFilter (double input)
	passFilter More...
void	reset (double initial_input=0.0)
bool	setParameter (int dim, std::vector< double > &A, std::vector< double > &B)
	Set parameters Y[n] = B[0] * X[n] + B[1] * X[n-1] + ... + B[dim] * X[n-dim] - A[1] * Y[n-1] ... - A[dim] * Y[n-dim] A[0] would be 1.0. More...
bool	setParameterAsBiquad (const double f_cutoff, const double Q, const double hz)
	Simple user interface of setParameter. More...
	~IIRFilter ()
	Destructor. More...

Private Attributes
int	m_dimension
std::string	m_error_prefix
std::vector< double >	m_fb_coefficients
std::vector< double >	m_ff_coefficients
bool	m_initialized
std::deque< double >	m_previous_values

Detailed Description

Infinite Impulse Filter y[n] = sum(0, dim, ff_coeffs[i] * x[n - i]) + sum(1, dim, fb_coeffs[i] * y[n - i])

Definition at line 24 of file TorqueFilter/IIRFilter.h.

Constructor & Destructor Documentation

IIRFilter() [1/2]

IIRFilter::IIRFilter

(

const std::string &

error_prefix = ""

)

Constructor.

Definition at line 28 of file TorqueFilter/IIRFilter.cpp.

IIRFilter() [2/2]

IIRFilter::IIRFilter	(	unsigned int	dim,
		std::vector< double > &	fb_coeffs,
		std::vector< double > &	ff_coeffs,
		const std::string &	error_prefix = ""
	)

Constructor, this constructure will be obsolated.

Parameters

dim	dimension of the filter
fb_coeffs	coeeficients of feedback
ff_coeffs	coefficients of feedforward

Definition at line 4 of file TorqueFilter/IIRFilter.cpp.

~IIRFilter()

IIRFilter::~IIRFilter ( )

inline

Destructor.

Definition at line 41 of file TorqueFilter/IIRFilter.h.

Member Function Documentation

executeFilter()

double IIRFilter::executeFilter ( double  input )

inline

Execute filtering, this method will be obsolated.

Definition at line 73 of file TorqueFilter/IIRFilter.h.

getParameter()

void IIRFilter::getParameter	(	int &	dim,
		std::vector< double > &	A,
		std::vector< double > &	B
	)

Definition at line 84 of file TorqueFilter/IIRFilter.cpp.

passFilter()

double IIRFilter::passFilter

(

double

input

)

passFilter

Definition at line 110 of file TorqueFilter/IIRFilter.cpp.

reset()

void IIRFilter::reset

(

double

initial_input = 0.0

)

Definition at line 100 of file TorqueFilter/IIRFilter.cpp.

setParameter()

bool IIRFilter::setParameter	(	int	dim,
		std::vector< double > &	A,
		std::vector< double > &	B
	)

Set parameters Y[n] = B[0] * X[n] + B[1] * X[n-1] + ... + B[dim] * X[n-dim] - A[1] * Y[n-1] ... - A[dim] * Y[n-dim] A[0] would be 1.0.

How to generete parameter by octave butterworth filter (dimension = 2, cutoff_freq = 8Hz) [B, A] = butter(2, 2 * 0.004 * 8) ;;; dimension=2, 2 * dt * cutoff_freq

Definition at line 33 of file TorqueFilter/IIRFilter.cpp.

setParameterAsBiquad()

bool IIRFilter::setParameterAsBiquad	(	const double	f_cutoff,
		const double	Q,
		const double	hz
	)

Simple user interface of setParameter.

Parameters

f_cutoff	cut off frequency
Q	quality factor: 1/2 = no overshoot, 1/sqrt(2) = Butterworth
hz	sampling rate

Definition at line 69 of file TorqueFilter/IIRFilter.cpp.

Member Data Documentation

m_dimension

int IIRFilter::m_dimension

private

Definition at line 85 of file TorqueFilter/IIRFilter.h.

m_error_prefix

std::string IIRFilter::m_error_prefix

private

Definition at line 91 of file TorqueFilter/IIRFilter.h.

m_fb_coefficients

std::vector<double> IIRFilter::m_fb_coefficients

private

Definition at line 86 of file TorqueFilter/IIRFilter.h.

m_ff_coefficients

std::vector<double> IIRFilter::m_ff_coefficients

private

Definition at line 87 of file TorqueFilter/IIRFilter.h.

m_initialized

bool IIRFilter::m_initialized

private

Definition at line 90 of file TorqueFilter/IIRFilter.h.

m_previous_values

std::deque<double> IIRFilter::m_previous_values

private

Definition at line 88 of file TorqueFilter/IIRFilter.h.

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

• TorqueFilter/IIRFilter.h
• TorqueFilter/IIRFilter.cpp