filter.h

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/*
 * Copyright (c) 2014-2017, the neonavigation authors
 * All rights reserved.
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 *       this software without specific prior written permission.
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#ifndef TRAJECTORY_TRACKER_FILTER_H
#define TRAJECTORY_TRACKER_FILTER_H

#include <cassert>
#include <cmath>

namespace trajectory_tracker
{
class Filter
{
public:
  enum Type
  {
    FILTER_HPF,
    FILTER_LPF
  };

protected:
  Type type_;
  float time_const_;
  float x_;
  float out_;
  float k_[4];
  bool angle_;

public:
  Filter(const enum Type type, const float tc, const float out0, const bool angle = false)
  {
    angle_ = angle;
    time_const_ = tc;
    type_ = type;
    switch (type_)
    {
      case FILTER_LPF:
        k_[3] = -1 / (1.0 + 2 * time_const_);
        k_[2] = -k_[3];
        k_[1] = (1.0 - 2 * time_const_) * k_[3];
        k_[0] = -k_[1] - 1.0;
        x_ = (1 - k_[2]) * out0 / k_[3];
        break;
      case FILTER_HPF:
        k_[3] = -1 / (1.0 + 2 * time_const_);
        k_[2] = -k_[3] * 2 * time_const_;
        k_[1] = (1.0 - 2 * time_const_) * k_[3];
        k_[0] = 2 * time_const_ * (-k_[1] + 1.0);
        x_ = (1 - k_[2]) * out0 / k_[3];
        break;
    }
    out_ = out0;
  }
  void set(const float& out0)
  {
    x_ = (1 - k_[2]) * out0 / k_[3];
    out_ = out0;
  }
  float in(const float& i)
  {
    float in = i;
    assert(std::isfinite(in));

    if (angle_)
    {
      in = out_ + remainder(in - out_, M_PI * 2.0);
    }
    x_ = k_[0] * in + k_[1] * x_;
    out_ = k_[2] * in + k_[3] * x_;

    assert(std::isfinite(out_));
    return out_;
  }
  float get()
  {
    return out_;
  }
};
}  // namespace trajectory_tracker

#endif  // TRAJECTORY_TRACKER_FILTER_H