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SecondOrderButterworthFilter Class

Declaration​

class moveit_pro_controllers::SecondOrderButterworthFilter { ... }

Included Headers​

#include <signal_processing.hpp>

Public Constructors Index​

SecondOrderButterworthFilter (double cutoff_frequency_ratio)

Public Member Functions Index​

const Eigen::Vector6d &apply (const Eigen::Vector6d &measurement)
voidresetState (const Eigen::Vector6d &state, const Eigen::Vector6d &prev_state, const Eigen::Vector6d &measured, const Eigen::Vector6d &prev_measured, const Eigen::Vector6d &measurement_offset)
voidsetMeasurementOffset (const Eigen::Vector6d &measurement_offset)

Private Member Attributes Index​

Eigen::Vector6dfiltered_state_ = Eigen::Vector6d::Zero()
Eigen::Vector6dprev_filtered_state_ = Eigen::Vector6d::Zero()
Eigen::Vector6dmeasured_state_ = Eigen::Vector6d::Zero()
Eigen::Vector6dprev_measured_state_ = Eigen::Vector6d::Zero()
doublecutoff_frequency_ratio_ = 1.0
Eigen::Vector6dmeasurement_offset_ = Eigen::Vector6d::Zero()

Definition at line 36 of file signal_processing.hpp.

Public Constructors​

SecondOrderButterworthFilter()​

moveit_pro_controllers::SecondOrderButterworthFilter::SecondOrderButterworthFilter (double cutoff_frequency_ratio)
 inline explicit

Definition at line 42 of file signal_processing.hpp.

Public Member Functions​

apply()​

const Eigen::Vector6d & moveit_pro_controllers::SecondOrderButterworthFilter::apply (const Eigen::Vector6d & measurement)

Calculates the filtered values given a new measurement. The filter is applied to each dimension independently.

Parameters
[in] measurement

new measurement.

Returns

the new state after the filter is applied.

Declaration at line 55 of file signal_processing.hpp, definition at line 24 of file signal_processing.cpp.

resetState()​

void moveit_pro_controllers::SecondOrderButterworthFilter::resetState (const Eigen::Vector6d & state, const Eigen::Vector6d & prev_state, const Eigen::Vector6d & measured, const Eigen::Vector6d & prev_measured, const Eigen::Vector6d & measurement_offset)

Sets the state of the filter to a given values.

Parameters
[in] state

the current filtered state.

[in] prev_state

the previous filtered state.

[in] measured

the current measured state.

[in] prev_measured

the previous measured state.

[in] measurement_offset

the offset to be added to the measurement.

Declaration at line 66 of file signal_processing.hpp, definition at line 51 of file signal_processing.cpp.

setMeasurementOffset()​

void moveit_pro_controllers::SecondOrderButterworthFilter::setMeasurementOffset (const Eigen::Vector6d & measurement_offset)

Sets the measurement offset to be added to the measured values.

Parameters
[in] measurement_offset

the offset to be added to the measurement.

Declaration at line 74 of file signal_processing.hpp, definition at line 62 of file signal_processing.cpp.

Private Member Attributes​

cutoff_frequency_ratio_​

double moveit_pro_controllers::SecondOrderButterworthFilter::cutoff_frequency_ratio_ = 1.0

Definition at line 86 of file signal_processing.hpp.

filtered_state_​

Eigen::Vector6d moveit_pro_controllers::SecondOrderButterworthFilter::filtered_state_ = Eigen::Vector6d::Zero()

Definition at line 78 of file signal_processing.hpp.

measured_state_​

Eigen::Vector6d moveit_pro_controllers::SecondOrderButterworthFilter::measured_state_ = Eigen::Vector6d::Zero()

Definition at line 82 of file signal_processing.hpp.

measurement_offset_​

Eigen::Vector6d moveit_pro_controllers::SecondOrderButterworthFilter::measurement_offset_ = Eigen::Vector6d::Zero()

Definition at line 89 of file signal_processing.hpp.

prev_filtered_state_​

Eigen::Vector6d moveit_pro_controllers::SecondOrderButterworthFilter::prev_filtered_state_ = Eigen::Vector6d::Zero()

Definition at line 80 of file signal_processing.hpp.

prev_measured_state_​

Eigen::Vector6d moveit_pro_controllers::SecondOrderButterworthFilter::prev_measured_state_ = Eigen::Vector6d::Zero()

Definition at line 84 of file signal_processing.hpp.

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

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