FirFilter.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
 * Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
 
// STD/STL
#include <memory>
#include <vector>
 
 
namespace armarx::control::rt_filters
{
 
    using FirFilterPtr = std::shared_ptr<class FirFilter>;
 
    class FirFilter
    {
 
    public:
        FirFilter(const std::vector<float>& impulseResponse = {1});
 
        void setImpulseResponse(const std::vector<float>& impulseResponse);
 
        float update(float value);
 
    private:
        std::vector<float> impulseResponse;
        std::vector<float> values;
        size_t index;
        size_t size;
    };
 
} // namespace armarx::control::rt_filters