bioscara_joint_firmware::Lowpass Class Reference

Simple discrete IIR lowpass filter. More...

#include <filters.h>

Public Member Functions
	Lowpass (float gain=1, float sampleTime=0.1, float timeconstant=1.0)
	Constucts and initializes the Lowpass filter.
float	updateState (float u)
	Update the filter state. Must be called with the constant period Ts.
void	resetState (void)
	Resets the filter state x to 0.0.

Protected Attributes
float	K
	Filter gain.
float	Ts
	Filter sampling time.
float	tau
	Filter timeconstant.
float	x
	Filter state.

Detailed Description

Simple discrete IIR lowpass filter.

Constructor & Destructor Documentation

Lowpass()

bioscara_joint_firmware::Lowpass::Lowpass ( float  gain = 1, float  sampleTime = 0.1, float  timeconstant = 1.0  )

inline

Constucts and initializes the Lowpass filter.

Parameters

gain
sampleTime
timeconstant

Member Function Documentation

resetState()

void bioscara_joint_firmware::Lowpass::resetState ( void  )

inline

Resets the filter state x to 0.0.

updateState()

float bioscara_joint_firmware::Lowpass::updateState ( float  u )

inline

Update the filter state. Must be called with the constant period Ts.

Returns

The updated filter state

Member Data Documentation

K

float bioscara_joint_firmware::Lowpass::K

protected

Filter gain.

tau

float bioscara_joint_firmware::Lowpass::tau

protected

Filter timeconstant.

Ts

float bioscara_joint_firmware::Lowpass::Ts

protected

Filter sampling time.

x

float bioscara_joint_firmware::Lowpass::x

protected

Filter state.

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

• lib/joint_firmware/joint/filters.h