One-dimensional digital filter class. More...

#include <transfer_function.hpp>

Inheritance diagram for filters::SingleChannelTransferFunctionFilter< T >:

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

	SingleChannelTransferFunctionFilter ()
	Construct the filter. More...

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

	~SingleChannelTransferFunctionFilter ()
	Destructor to clean up. 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< T > >	input_buffer_

std::unique_ptr< RealtimeCircularBuffer< T > >	output_buffer_

T	temp_

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::SingleChannelTransferFunctionFilter< T >

One-dimensional digital filter class.

This class calculates the output for $N$ one-dimensional digital filters. The filter is described by vectors $a$ and $b$ and implemented using the standard difference equation: