FirstOrderFilter< T > Class Template Reference

This class can be used to apply a first order filter on a signal. It allows different acceleration and deceleration time constants. More...

#include <common.h>

Public Member Functions
	FirstOrderFilter (double timeConstantUp, double timeConstantDown, T initialState)
T	updateFilter (T inputState, double samplingTime)
	This method will apply a first order filter on the inputState. More...
	~FirstOrderFilter ()

Protected Attributes
T	previousState_
double	timeConstantDown_
double	timeConstantUp_

Detailed Description

template<typename T>
class FirstOrderFilter< T >

This class can be used to apply a first order filter on a signal. It allows different acceleration and deceleration time constants.

Short reveiw of discrete time implementation of first order system: Laplace: X(s)/U(s) = 1/(tau*s + 1) continous time system: dx(t) = (-1/tau)*x(t) + (1/tau)*u(t) discretized system (ZoH): x(k+1) = exp(samplingTime*(-1/tau))*x(k) + (1 - exp(samplingTime*(-1/tau))) * u(k)

Definition at line 148 of file common.h.

Constructor & Destructor Documentation

FirstOrderFilter()

template<typename T >

FirstOrderFilter< T >::FirstOrderFilter ( double  timeConstantUp, double  timeConstantDown, T  initialState  )

inline

Definition at line 151 of file common.h.

~FirstOrderFilter()

template<typename T >

FirstOrderFilter< T >::~FirstOrderFilter ( )

inline

Definition at line 177 of file common.h.

Member Function Documentation

updateFilter()

template<typename T >

T FirstOrderFilter< T >::updateFilter ( T  inputState, double  samplingTime  )

inline

This method will apply a first order filter on the inputState.

Definition at line 157 of file common.h.

Member Data Documentation

previousState_

template<typename T >

T FirstOrderFilter< T >::previousState_

protected

Definition at line 182 of file common.h.

timeConstantDown_

template<typename T >

double FirstOrderFilter< T >::timeConstantDown_

protected

Definition at line 181 of file common.h.

timeConstantUp_

template<typename T >

double FirstOrderFilter< T >::timeConstantUp_

protected

Definition at line 180 of file common.h.

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

• common.h