Gazebo Math

API Reference

8.1.0
OnePole< T > Class Template Reference

A one-pole DSP filter. More...

#include <gz/math/Filter.hh>

Public Member Functions

 OnePole ()=default
 Constructor.
 
 OnePole (double _fc, double _fs)
 Constructor.
 
virtual void Fc (double _fc, double _fs) override
 Set the cutoff frequency and sample rate.
 
const T & Process (const T &_x)
 Update the filter's output.
 
- Public Member Functions inherited from Filter< T >
virtual ~Filter ()
 Destructor.
 
virtual void Set (const T &_val)
 Set the output of the filter.
 
virtual const T & Value () const
 Get the output of the filter.
 

Protected Attributes

double a0 = 0
 Input gain control.
 
double b1 = 0
 Gain of the feedback.
 
- Protected Attributes inherited from Filter< T >
y0 {}
 Output.
 

Detailed Description

template<class T>
class gz::math::OnePole< T >

A one-pole DSP filter.

See also
http://www.earlevel.com/main/2012/12/15/a-one-pole-filter/

Constructor & Destructor Documentation

◆ OnePole() [1/2]

template<class T >
OnePole ( )
default

Constructor.

◆ OnePole() [2/2]

template<class T >
OnePole ( double  _fc,
double  _fs 
)
inline

Constructor.

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

References OnePole< T >::Fc().

Member Function Documentation

◆ Fc()

template<class T >
virtual void Fc ( double  _fc,
double  _fs 
)
inlineoverridevirtual

Set the cutoff frequency and sample rate.

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

Implements Filter< T >.

References OnePole< T >::a0, OnePole< T >::b1, and GZ_PI.

Referenced by OnePole< T >::OnePole().

◆ Process()

template<class T >
const T & Process ( const T &  _x)
inline

Update the filter's output.

Parameters
[in]_xInput value.
Returns
The filter's current output.

References OnePole< T >::a0, OnePole< T >::b1, and Filter< T >::y0.

Member Data Documentation

◆ a0

template<class T >
double a0 = 0
protected

Input gain control.

Referenced by OnePole< T >::Fc(), and OnePole< T >::Process().

◆ b1

template<class T >
double b1 = 0
protected

Gain of the feedback.

Referenced by OnePole< T >::Fc(), and OnePole< T >::Process().


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