dynamicgraph::sot::FilterDifferentiator Class Reference

#include <filter-differentiator.hh>

Inheritance diagram for dynamicgraph::sot::FilterDifferentiator:

Public Member Functions
	DECLARE_SIGNAL_IN (x, dynamicgraph::Vector)
	Input signals. More...
	DECLARE_SIGNAL_INNER (x_dx_ddx, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (ddx, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (dx, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (x_filtered, dynamicgraph::Vector)
	Output signal x_filtered. More...
virtual void	display (std::ostream &os) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FilterDifferentiator (const std::string &name)
void	init (const double &timestep, const size_type &xSize, const Eigen::VectorXd &filter_numerator, const Eigen::VectorXd &filter_denominator)
void	switch_filter (const Eigen::VectorXd &filter_numerator, const Eigen::VectorXd &filter_denominator)
Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const
	Entity (const std::string &name)
virtual const std::string &	getClassName () const
const std::string &	getCommandList () const
virtual std::string	getDocString () const
LoggerVerbosity	getLoggerVerbosityLevel ()
LoggerVerbosity	getLoggerVerbosityLevel ()
const std::string &	getName () const
command::Command *	getNewStyleCommand (const std::string &cmdName)
CommandMap_t	getNewStyleCommandMap ()
SignalBase< sigtime_t > &	getSignal (const std::string &signalName)
const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const
SignalMap	getSignalMap () const
double	getStreamPrintPeriod ()
double	getStreamPrintPeriod ()
double	getTimeSample ()
double	getTimeSample ()
bool	hasSignal (const std::string &signame) const
Logger &	logger ()
Logger &	logger ()
const Logger &	logger () const
const Logger &	logger () const
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")
void	setLoggerVerbosityLevel (LoggerVerbosity lv)
void	setLoggerVerbosityLevel (LoggerVerbosity lv)
bool	setStreamPrintPeriod (double t)
bool	setStreamPrintPeriod (double t)
bool	setTimeSample (double t)
bool	setTimeSample (double t)
virtual SignalBase< sigtime_t > *	test ()
virtual void	test2 (SignalBase< sigtime_t > *)
virtual std::ostream &	writeCompletionList (std::ostream &os) const
virtual std::ostream &	writeGraph (std::ostream &os) const
virtual	~Entity ()

Protected Attributes
double	m_dt
CausalFilter *	m_filter
	polynomial-fitting filters More...
size_type	m_x_size
	sampling timestep of the input signal More...
Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap
Logger	logger_
std::string	name
SignalMap	signalMap

Private Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t
typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap
Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)
void	entityDeregistration ()
void	entityRegistration ()
void	signalDeregistration (const std::string &name)
void	signalRegistration (const SignalArray< sigtime_t > &signals)

Detailed Description

Definition at line 58 of file filter-differentiator.hh.

Constructor & Destructor Documentation

FilterDifferentiator()

dynamicgraph::sot::FilterDifferentiator::FilterDifferentiator

(

const std::string &

name

)

— CONSTRUCTOR -—

Definition at line 58 of file filter-differentiator.cpp.

Member Function Documentation

DECLARE_SIGNAL_IN()

dynamicgraph::sot::FilterDifferentiator::DECLARE_SIGNAL_IN	(	x	,
		dynamicgraph::Vector
	)

Input signals.

DECLARE_SIGNAL_INNER()

dynamicgraph::sot::FilterDifferentiator::DECLARE_SIGNAL_INNER	(	x_dx_ddx	,
		dynamicgraph::Vector
	)

The following inner signals are used because this entity has some output signals whose related quantities are computed at the same time by the same algorithm To avoid the risk of recomputing the same things twice, we create an inner signal that groups together all the quantities that are computed together. Then the single output signals will depend on this inner signal, which is the one triggering the computations. Inner signals are not exposed, so that nobody can access them. This signal contains the estimated positions, velocities and accelerations.

DECLARE_SIGNAL_OUT() [1/3]

dynamicgraph::sot::FilterDifferentiator::DECLARE_SIGNAL_OUT	(	ddx	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [2/3]

dynamicgraph::sot::FilterDifferentiator::DECLARE_SIGNAL_OUT	(	dx	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [3/3]

dynamicgraph::sot::FilterDifferentiator::DECLARE_SIGNAL_OUT	(	x_filtered	,
		dynamicgraph::Vector
	)

Output signal x_filtered.

display()

void dynamicgraph::sot::FilterDifferentiator::display ( std::ostream &  os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 163 of file filter-differentiator.cpp.

DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::FilterDifferentiator::DYNAMIC_GRAPH_ENTITY_DECL ( )

private

init()

void dynamicgraph::sot::FilterDifferentiator::init	(	const double &	timestep,
		const size_type &	xSize,
		const Eigen::VectorXd &	filter_numerator,
		const Eigen::VectorXd &	filter_denominator
	)

Initialize the FilterDifferentiator.

Parameters

timestep	Period (in seconds) after which the sensors' data are updated.
sigSize	Size of the input signal.
delay	Delay (in seconds) introduced by the estimation. This should be a multiple of timestep.

Note

The estimationDelay is half of the length of the window used for the polynomial fitting. The larger the delay, the smoother the estimations.

Definition at line 92 of file filter-differentiator.cpp.

switch_filter()

void dynamicgraph::sot::FilterDifferentiator::switch_filter	(	const Eigen::VectorXd &	filter_numerator,
		const Eigen::VectorXd &	filter_denominator
	)

Definition at line 106 of file filter-differentiator.cpp.

Member Data Documentation

m_dt

double dynamicgraph::sot::FilterDifferentiator::m_dt

protected

Definition at line 86 of file filter-differentiator.hh.

m_filter

CausalFilter* dynamicgraph::sot::FilterDifferentiator::m_filter

protected

polynomial-fitting filters

Definition at line 90 of file filter-differentiator.hh.

m_x_size

size_type dynamicgraph::sot::FilterDifferentiator::m_x_size

protected

sampling timestep of the input signal

Definition at line 87 of file filter-differentiator.hh.

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

• filter-differentiator.hh
• filter-differentiator.cpp