ButterworthFilter Class Reference

#include <ArmarXCore/observers/filters/rtfilters/ButterworthFilter.h>

Inheritance diagram for ButterworthFilter:

Public Member Functions
	ButterworthFilter (double frequency, int sampleRate, PassType filterPassType, double resonance)
double	calculate () override
RTFilterBasePtr	clone () const override
void	setInitialValue (double value)
double	update (const IceUtil::Time &timestamp, double newValue) override
Public Member Functions inherited from RTFilterBase
double	getCurrentValue () const
virtual void	reset ()
	RTFilterBase (const RTFilterBase &other)=default
	RTFilterBase (size_t historySize)
double	update (double deltaSec, double newValue)
virtual	~RTFilterBase ()

Protected Attributes
double	a1
double	a2
double	a3
double	b1
double	b2
double	c
::armarx::PassType	filterPassType
double	frequency
std::vector< double >	inputHistory = std::vector<double>(2, 0.0)
	Array of input values, latest are in front.
double	newestValue
std::vector< double >	outputHistory = std::vector<double>(3, 0.0)
	Array of output values, latest are in front.
double	resonance
int	sampleRate
Protected Attributes inherited from RTFilterBase
double	currentValue = 0.0
boost::circular_buffer< std::pair< IceUtil::Time, double > >	dataHistory

Constructor & Destructor Documentation

ButterworthFilter()

ButterworthFilter	(	double	frequency,
		int	sampleRate,
		PassType	filterPassType,
		double	resonance )

Member Function Documentation

calculate()

double calculate ( )

overridevirtual

Implements RTFilterBase.

clone()

RTFilterBasePtr clone ( ) const

overridevirtual

Implements RTFilterBase.

setInitialValue()

void setInitialValue

(

double

value

)

update()

double update ( const IceUtil::Time & timestamp, double newValue )

overridevirtual

Reimplemented from RTFilterBase.

Member Data Documentation

a1

double a1

protected

a2

double a2

protected

a3

double a3

protected

b1

double b1

protected

b2

double b2

protected

c

double c

protected

filterPassType

::armarx::PassType filterPassType

protected

frequency

double frequency

protected

inputHistory

std::vector<double> inputHistory = std::vector<double>(2, 0.0)

protected

Array of input values, latest are in front.

newestValue

double newestValue

protected

outputHistory

std::vector<double> outputHistory = std::vector<double>(3, 0.0)

protected

Array of output values, latest are in front.

resonance

double resonance

protected

sampleRate

int sampleRate

protected

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

• ArmarXCore/observers/filters/rtfilters/ButterworthFilter.h
• ArmarXCore/observers/filters/rtfilters/ButterworthFilter.cpp