Class SE3LowPassFilter

• Defined in File se3_low_pass_filter.hpp

Class Documentation

class SE3LowPassFilter

First-order low-pass filter for SE3 poses.

Public Functions

SE3LowPassFilter(double tau = 0.1)

Creates an SE3 low-pass filter.

Parameters:

tau – Time constant in seconds. Larger values produce slower, smoother tracking.

void reset(const pinocchio::SE3 &pose)

Resets the filter state to a specific pose.

Parameters:

pose – Pose used as the new filtered state.

pinocchio::SE3 update(const pinocchio::SE3 &target_pose, double dt)

Updates the filtered state toward a target pose.

Parameters:

• target_pose – Target pose to filter toward.

• dt – Time step in seconds.

Returns:

The updated filtered pose.

double tau() const

Returns the filter time constant in seconds.

Returns:

Filter time constant.

void setTau(double tau)

Sets the filter time constant.

Parameters:

tau – Time constant in seconds. Larger values produce slower, smoother tracking.

bool isInitialized() const

Checks whether the filter has an active filtered state.

Returns:

True if the filter has been initialized by reset() or update().