BiQuad< T > Class Template Reference

Bi-quad filter base class. More...

#include <math/gzmath.hh>

Inherits Filter< T >.

Public Member Functions

 BiQuad () GAZEBO_DEPRECATED(8.0)
 Constructor. More...
 
 BiQuad (double _fc, double _fs) GAZEBO_DEPRECATED(8.0)
 Constructor. More...
 
virtual const T & GetValue () GAZEBO_DEPRECATED(8.0)
 Get the output of the filter. More...
 
virtual const T & process (const T &_x)
 Update the filter's output. More...
 
void SetFc (double _fc, double _fs)
 Set the cutoff frequency and sample rate. More...
 
void SetFc (double _fc, double _fs, double _q)
 Set the cutoff frequency, sample rate and Q coefficient. More...
 
virtual void SetValue (const T &_val)
 Set the current filter's output. More...
 

Protected Attributes

double a0
 Input gain control coefficients. More...
 
double a1
 
double a2
 
double b0
 
double b1
 
double b2
 
x1
 Gain of the feedback coefficients. More...
 
x2
 
y0
 Output. More...
 
y1
 
y2
 

Detailed Description

template<class T>
class gazebo::math::BiQuad< T >

Bi-quad filter base class.

See also
http://www.earlevel.com/main/2003/03/02/the-bilinear-z-transform/

Constructor & Destructor Documentation

BiQuad ( )
inline

Constructor.

Deprecated:
See ignition::math::BiQuad
BiQuad ( double  _fc,
double  _fs 
)
inline

Constructor.

Parameters
[in]_fcCutoff frequency.
[in]_fsSample rate.
Deprecated:
See ignition::math::BiQuad

Member Function Documentation

virtual const T& GetValue ( )
inlinevirtualinherited

Get the output of the filter.

Returns
Filter's output.
virtual const T& process ( const T &  _x)
inlinevirtual

Update the filter's output.

Parameters
[in]_xInput value.
Returns
The filter's current output.
void SetFc ( double  _fc,
double  _fs 
)
inlinevirtual

Set the cutoff frequency and sample rate.

Parameters
[in]_fcCutoff frequency.
[in]_fsSample rate.

Implements Filter< T >.

void SetFc ( double  _fc,
double  _fs,
double  _q 
)
inline

Set the cutoff frequency, sample rate and Q coefficient.

Parameters
[in]_fcCutoff frequency.
[in]_fsSample rate.
[in]_qQ coefficient.
virtual void SetValue ( const T &  _val)
inlinevirtual

Set the current filter's output.

Parameters
[in]_valNew filter's output.

Reimplemented from Filter< T >.

Member Data Documentation

double a0
protected

Input gain control coefficients.

double a1
protected
double a2
protected
double b0
protected
double b1
protected
double b2
protected
T x1
protected

Gain of the feedback coefficients.

T x2
protected
T y1
protected
T y2
protected

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