Project_WIPV_antiSlip
/
IIR
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IIR
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Project_WIPV_antiSlip
Revision 1:3d8226c5abfe, committed 2016-07-29
- Comitter:
- benson516
- Date:
- Fri Jul 29 14:55:33 2016 +0000
- Parent:
- 0:a7405ea45d27
- Child:
- 2:0bae37b297f4
- Commit message:
- Change the definition of the coefficient in denominator
Changed in this revision
| IIR.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/IIR.h Fri Jul 29 14:26:54 2016 +0000
+++ b/IIR.h Fri Jul 29 14:55:33 2016 +0000
@@ -1,5 +1,17 @@
#include <vector>
using std::vector;
+/*-----------------------------*/
+//
+// y gain*( sum(i from 0 to m) b[i]*x[k-i] )
+// --- = --------------------------------------------
+// u 1 + sum( i from 1 to n) a[i]*y[k-i]
+//
+// y[k] = gain*( sum(i from 0 to m) b[i]*x[k-i] ) - sum( i from 1 to n) a[i]*y[k-i]
+//
+// Compatible with the coefficient generated by Matlab fdatool
+//
+// by C.F. Huang from LDSC
+/*-----------------------------*/
class Circular_buffer{
private:
@@ -58,11 +70,16 @@
y.Init(n);
}
void Assign_parameters(float b_in[], float a_in[], float gain_in){
- b.assign(b_in,b_in+m+1);
- a.assign(a_in,a_in+n);
+ //b.assign(b_in,b_in+m+1);
+ // a.assign(a_in,a_in+n);
+ b.resize(m+1);
+ a.resize(n);
+ for (size_t i = 0; i < n; i++){
+ a[i] = a_in[i+1];
+ }
gain = gain_in;
for (size_t i = 0; i < b.size(); i++){
- b[i] *= gain;
+ b[i] = gain*b_in[i];
}
}
float Iterate_once(float x_in){