IIRFilter.hpp

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011  Antonio Franchi
//
// This file is part of TeleKyb.
//
// TeleKyb is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// TeleKyb 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with TeleKyb. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de 
//
// ----------------------------------------------------------------------------



/* @{ */

#ifndef IIR_FILTER_HPP_
#define IIR_FILTER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_base/Time.hpp>

#include <vector>
#include <list>

namespace TELEKYB_NAMESPACE
{

// esempio per order = 3
// implementa la funzione di trasferimento:
// _inCoeff[0]  +  _inCoeff[1] z +  _inCoeff[2] z^2 + _inCoeff[3] z^3
// ------------------------------------------------------------------
//      _outCoeff[0] + _outCoeff[1] z + _outCoeff[2] z^2 + z^3
//
// ossia
//
//y[t] =  _inCoeff[0] * u[t-3] +  _inCoeff[1] * u[t-2] +  _inCoeff[2] * u[t-1] + _inCoeff[3] * u[t]
//               - _outCoeff[0] * y[t-3] - _outCoeff[1] * y[t-2] - _outCoeff[2] * y[t-1]


class IIRLowPass {};
class IIRFiltDeriv {};
class IIRLowPassButtW {};
class IIRFiltDerivButtW {};

class IIRFilter{
        private:
                std::vector< std::vector<double> > _inCoeff;
                std::vector<double> _outCoeff;
                std::vector< std::list<double> > _pastIns;
                std::list<double> _pastOuts;
                int _order;
                int _inNum;
                std::list<double>::iterator outIt,inIt;
                int iCo,iIn;

                void _kernelConstructor(std::vector< std::vector<double> > &inputCoeff,std::vector<double> &outputCoeff);
        public:

                IIRFilter(std::vector<double> &inputCoeff,std::vector<double> &outputCoef);

                IIRFilter(std::vector< std::vector<double> > &inputCoeff,std::vector<double> &outputCoef);

                IIRFilter(IIRLowPass dummyType, double wn, double csi, double ts);

                IIRFilter(IIRFiltDeriv dummyType, double wn, double csi, double ts);





                IIRFilter(IIRLowPassButtW dummyType, double wn, double ts);



                IIRFilter(IIRFiltDerivButtW dummyType, double wn, double ts);




                ~IIRFilter();

                IIRFilter(const IIRFilter& t);

                IIRFilter& operator=(const IIRFilter& t);

                void step(double in,double& out);

                void step(const std::vector<double>& in,double& out);
};



} // namespace
#endif

/* @} */