File content as of revision 5:2291a3ccc64a:

//
#ifndef PI
#define PI 3.1415926
#endif
//
#ifndef FILTER_LIB_H
#define FILTER_LIB_H
//
#include "IIR.h"
#include <vector>

using std::vector;

//--------------------LPF---------------------//
class LPF{ // Low-pass filter
public:
    float output;

    LPF(float samplingTime, float cutOff_freq_Hz_in); // cutOff_freq_Hz_in is in "Hz"
    float filter(float input);
    void reset(float input);

private:
    float Ts;
    float cutOff_freq_Hz; // Hz
    float alpha_Ts;
    float One_alpha_Ts;

    // Flag
    bool Flag_Init;
};

//--------------------LPF_vector---------------------//
class LPF_vector{ // Vectorized low-pass filter
public:
    vector<float> output;

    LPF_vector(size_t dimension, float samplingTime, float cutOff_freq_Hz_in); // cutOff_freq_Hz_in is in "Hz"
    vector<float> filter(const vector<float> &v_in);
    void reset(const vector<float> &v_in);

private:
    size_t n;
    float Ts;
    float cutOff_freq_Hz; // Hz
    float alpha_Ts;
    float One_alpha_Ts;

    // Flag
    bool Flag_Init;

    //
    vector<float> zeros; // Zero vector [0;0;0]
};


//--------------------HPF---------------------//
class HPF{ // High-pass filter
public:
    float output;

    HPF(float samplingTime, float cutOff_freq_Hz_in); // cutOff_freq_Hz_in is in "Hz"
    float filter(float input);
    void reset(float input);

private:
    float Ts;
    float cutOff_freq_Hz; // Hz
    // float alpha_Ts;
    // float One_alpha_Ts;

    // Flag
    bool Flag_Init;

    //
    LPF lpf;
};

//--------------------HPF_vector---------------------//
class HPF_vector{ // Vectorized high-pass filter
public:
    vector<float> output;

    HPF_vector(size_t dimension, float samplingTime, float cutOff_freq_Hz_in); // cutOff_freq_Hz_in is in "Hz"
    vector<float> filter(const vector<float> &v_in);
    void reset(const vector<float> &v_in);

private:
    size_t n;
    float Ts;
    float cutOff_freq_Hz; // Hz
    // float alpha_Ts;
    // float One_alpha_Ts;

    // Flag
    bool Flag_Init;

    //
    LPF_vector lpf_v;
};


//--------------------Derivative_appr---------------------//
class Derivative_appr{ // Approximated Derivative, cut-off at 10% of sampling frequency
public:
    float output;

    Derivative_appr(float samplingTime);
    float filter(float input);
    void reset(float input);

private:
    float Ts;
    float cutOff_freq_Hz; // Hz

    // Flag
    bool Flag_Init;

    //
    IIR derivative_LPF2;
};

//--------------------Rate-saturation Filter---------------------//
class RateSaturation_Filter{ // Rate-saturation Filter
public:
    float output;
    float error;

    RateSaturation_Filter(float samplingTime, float limit_rate_in); // limit_rate is in the unit of "value/s"
    float filter(float input);
    void reset(float input);

private:
    float Ts;
    float limit_rate;
    float limit_increment;

    // Flag
    bool Flag_Init;
};

#endif