filter-differentiator.hh

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/*
 * Copyright 2017-, Rohan Budhirja, LAAS-CNRS
 *
 * This file is part of sot-torque-control.
 * sot-torque-control is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 * sot-torque-control is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.  You should
 * have received a copy of the GNU Lesser General Public License along
 * with sot-torque-control.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef __sot_torque_control_FilterDifferentiator_H__
#define __sot_torque_control_FilterDifferentiator_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(low_pass_filter_EXPORTS)
#define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllexport)
#else
#define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllimport)
#endif
#else
#define SOTFILTERDIFFERENTIATOR_EXPORT
#endif
 
// #define VP_DEBUG 1        /// enable debug output
// #define VP_DEBUG_MODE 20
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* HELPER */
#include <dynamic-graph/signal-helper.h>
 
#include <sot/core/causal-filter.hh>
#include <sot/core/stop-watch.hh>
 
namespace dynamicgraph {
namespace sot {
class SOTFILTERDIFFERENTIATOR_EXPORT FilterDifferentiator
    : public ::dynamicgraph::Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public: /* --- SIGNALS --- */
  DECLARE_SIGNAL_IN(x, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(x_filtered, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector);
  DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector);
 
 
  DECLARE_SIGNAL_INNER(x_dx_ddx, dynamicgraph::Vector);
 
 protected:
  double m_dt;  
  size_type m_x_size;
 
  CausalFilter *m_filter;
 
 public:
  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);
 
 protected:
 public: /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream &os) const;
 
};  // class FilterDifferentiator
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_FilterDifferentiator_H__