37 const Eigen::VectorXd &filter_numerator,
38 const Eigen::VectorXd &filter_denominator)
42 m_filter_order_m(filter_numerator.
size()),
43 m_filter_order_n(filter_denominator.
size()),
44 m_filter_numerator(filter_numerator),
45 m_filter_denominator(filter_denominator),
49 m_input_buffer(
Eigen::MatrixXd::Zero(xSize, filter_numerator.
size())),
51 Eigen::MatrixXd::Zero(xSize, filter_denominator.
size() - 1)) {
52 assert(timestep > 0.0 &&
"Timestep should be > 0");
58 Eigen::VectorXd &x_output_dx_ddx) {
108 const Eigen::VectorXd &filter_denominator) {
122 current_x * filter_numerator.sum() / filter_denominator.sum();