xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar > Class Template Reference

A very simple low-pass filter, using a "one-pole infinite impulse response" design (one-pole IIR). More...

#include <tracking/t_lowpass_vector.hpp>

Public Types
using	Vector = Eigen::Matrix< Scalar, Dim, 1 >

Public Member Functions
	LowPassIIRVectorFilter (Scalar cutoff_hz) noexcept
	Constructor. More...
void	reset () noexcept
	Reset the filter to just-created state. More...
void	addSample (Vector const &sample, std::uint64_t timestamp_ns, Scalar weight=1)
	Filter a sample, with an optional weight. More...
Vector const &	getState () const noexcept
	Access the filtered value. More...
std::uint64_t	getTimestampNs () const noexcept
	Access the time of last update. More...
bool	isInitialized () const noexcept
	Access whether we have initialized state. More...

Detailed Description

template<size_t Dim, typename Scalar>
class xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar >

A very simple low-pass filter, using a "one-pole infinite impulse response" design (one-pole IIR).

Configurable in dimension and scalar type.

Constructor & Destructor Documentation

LowPassIIRVectorFilter()

template<size_t Dim, typename Scalar>

xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar >::LowPassIIRVectorFilter ( Scalar  cutoff_hz )

inlineexplicitnoexcept

Constructor.

Parameters

cutoff_hz

A cutoff frequency in Hertz: signal changes much lower in frequency will be passed through the filter, while signal changes much higher in frequency will be blocked.

Member Function Documentation

addSample()

template<size_t Dim, typename Scalar>

void xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar >::addSample ( Vector const &  sample, std::uint64_t  timestamp_ns, Scalar  weight = 1  )

inline

Filter a sample, with an optional weight.

Parameters

sample	The value to filter
timestamp_ns	The time that this sample was measured.
weight	An optional value between 0 and 1. The smaller this value, the less the current sample influences the filter state. For the first call, this is always assumed to be 1.

getState()

template<size_t Dim, typename Scalar>

Vector const& xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar >::getState ( ) const

inlinenoexcept

Access the filtered value.

getTimestampNs()

template<size_t Dim, typename Scalar>

std::uint64_t xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar >::getTimestampNs ( ) const

inlinenoexcept

Access the time of last update.

isInitialized()

template<size_t Dim, typename Scalar>

bool xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar >::isInitialized ( ) const

inlinenoexcept

Access whether we have initialized state.

reset()

template<size_t Dim, typename Scalar>

void xrt_fusion::LowPassIIRVectorFilter< Dim, Scalar >::reset ( )

inlinenoexcept

Reset the filter to just-created state.

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

• auxiliary/tracking/t_lowpass_vector.hpp