ButterworthFilter.h

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2017, 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/>.
 *
 * @package    ArmarX
 * @author     Mirko Waechter( mirko.waechter at kit dot edu)
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#ifndef BUTTERWORTHFILTER_H
#define BUTTERWORTHFILTER_H
 
#include <ArmarXCore/interface/observers/Filters.h>
 
#include "RTFilterBase.h"
 
namespace armarx::rtfilters
{
 
    class ButterworthFilter : public RTFilterBase
    {
    public:
        ButterworthFilter(double frequency,
                          int sampleRate,
                          PassType filterPassType,
                          double resonance);
        RTFilterBasePtr clone() const override;
        void setInitialValue(double value);
        // RTFilterBase interface
    public:
        double calculate() override;
        double update(const IceUtil::Time& timestamp, double newValue) override;
 
    protected:
        double newestValue;
        /// Array of input values, latest are in front
        std::vector<double> inputHistory = std::vector<double>(2, 0.0);
 
        /// Array of output values, latest are in front
        std::vector<double> outputHistory = std::vector<double>(3, 0.0);
 
        double resonance;
 
        double frequency;
 
        int sampleRate;
 
        ::armarx::PassType filterPassType;
 
        double c;
 
        double a1;
 
        double a2;
 
        double a3;
 
        double b1;
 
        double b2;
    };
 
} // namespace armarx::rtfilters
#endif // BUTTERWORTHFILTER_H