xrt_fusion::implementation::LowPassIIR< Value, Scalar > Struct Template Reference

The shared implementation (between vector and scalar versions) of an IIR low-pass filter. More...

#include <tracking/t_lowpass.hpp>

Public Member Functions
	LowPassIIR (Scalar cutoff_hz, Value const &val) noexcept
	Constructor. More...
void	reset (Value const &val) noexcept
	Reset the filter to just-created state. More...
void	addSample (Value const &sample, timepoint_ns timestamp_ns, Scalar weight=1)
	Filter a sample, with an optional weight. More...

Data Fields
Value	state
Scalar	time_constant
bool	initialized {false}
timepoint_ns	filter_timestamp_ns {0}

Detailed Description

template<typename Value, typename Scalar>
struct xrt_fusion::implementation::LowPassIIR< Value, Scalar >

The shared implementation (between vector and scalar versions) of an IIR low-pass filter.

Constructor & Destructor Documentation

LowPassIIR()

template<typename Value, typename Scalar>

xrt_fusion::implementation::LowPassIIR< Value, Scalar >::LowPassIIR ( Scalar  cutoff_hz, Value const &  val  )

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.
val	The value to initialize the filter with. Does not affect the filter itself: only seen if you access state before initializing the filter with the first sample.

Member Function Documentation

addSample()

template<typename Value, typename Scalar>

void xrt_fusion::implementation::LowPassIIR< Value, Scalar >::addSample ( Value const &  sample, timepoint_ns  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.

Todo:

limit max dt?

reset()

template<typename Value, typename Scalar>

void xrt_fusion::implementation::LowPassIIR< Value, Scalar >::reset ( Value const &  val )

inlinenoexcept

Reset the filter to just-created state.

Referenced by xrt_fusion::LowPassIIRVectorFilter< 3, double >::reset().

---

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

• auxiliary/tracking/t_lowpass.hpp