One-dimensional digital filter class. More...

#include <transfer_function.hpp>

Inheritance diagram for filters::MultiChannelTransferFunctionFilter< T >:

Public Member Functions
virtual bool	configure ()
	Configure the filter with the correct number of channels and params. More...

	MultiChannelTransferFunctionFilter ()
	Construct the filter. More...

virtual bool	update (const std::vector< T > &data_in, std::vector< T > &data_out)
	Update the filter and return the data seperately. More...

	~MultiChannelTransferFunctionFilter ()
	Destructor to clean up. More...

Public Member Functions inherited from filters::MultiChannelFilterBase< T >
bool	configure (unsigned int number_of_channels, const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())
	Configure the filter from the parameter server. More...

bool	configure (unsigned int number_of_channels, XmlRpc::XmlRpcValue &config)
	The public method to configure a filter from XML. More...

bool	configure (XmlRpc::XmlRpcValue &config)
	A method to hide the base class method and warn if improperly called. More...

	MultiChannelFilterBase ()

virtual bool	update (const T &, T &)
	Update the filter and return the data seperately This is an inefficient way to do this and can be overridden in the derived class. More...

Public Member Functions inherited from filters::FilterBase< T >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())
	Configure the filter from the parameter server. More...

bool	configure (XmlRpc::XmlRpcValue &config)
	The public method to configure a filter from XML. More...

	FilterBase ()
	Default constructor used by Filter Factories. More...

const std::string &	getName () const
	Get the name of the filter as a string. More...

std::string	getType ()
	Get the type of the filter as a string. More...

virtual	~FilterBase ()
	Virtual Destructor. More...

Protected Attributes
std::vector< double >	a_

std::vector< double >	b_

std::unique_ptr< RealtimeCircularBuffer< std::vector< T > > >	input_buffer_

std::unique_ptr< RealtimeCircularBuffer< std::vector< T > > >	output_buffer_

std::vector< T >	temp_

Protected Attributes inherited from filters::MultiChannelFilterBase< T >
unsigned int	number_of_channels_
	How many parallel inputs for which the filter is to be configured. More...

Protected Attributes inherited from filters::FilterBase< T >
bool	configured_
	Whether the filter has been configured. More...

std::string	filter_name_
	The name of the filter. More...

std::string	filter_type_
	The type of the filter (Used by FilterChain for Factory construction) More...

string_map_t	params_
	Storage of the parsed xml parameters. More...

Additional Inherited Members
Protected Member Functions inherited from filters::FilterBase< T >
bool	getParam (const std::string &name, bool &value) const
	Get a filter parameter as a boolean. More...

bool	getParam (const std::string &name, double &value) const
	Get a filter parameter as a double. More...

bool	getParam (const std::string &name, int &value) const
	Get a filter parameter as a int. More...

bool	getParam (const std::string &name, std::string &value) const
	Get a filter parameter as a string. More...

bool	getParam (const std::string &name, std::vector< double > &value) const
	Get a filter parameter as a std::vector<double> More...

bool	getParam (const std::string &name, std::vector< std::string > &value) const
	Get a filter parameter as a std::vector<string> More...

bool	getParam (const std::string &name, unsigned int &value) const
	Get a filter parameter as an unsigned int. More...

bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value) const
	Get a filter parameter as a XmlRpcValue. More...

bool	loadConfiguration (XmlRpc::XmlRpcValue &config)

Detailed Description

template<typename T>
class filters::MultiChannelTransferFunctionFilter< T >

One-dimensional digital filter class.

This class calculates the output for $N$ one-dimensional digital filters. Where the input, $x$ , is a ( $N$ x 1) vector of inputs and the output, $y$ , is a ( $N$ x 1) vector of outputs. The filter is described by vectors $a$ and $b$ and implemented using the standard difference equation: