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LowpassFilter.h@0:bb408887ab78, 2018-03-09 (annotated)

Committer:
kueenste
Date:
Fri Mar 09 15:29:36 2018 +0000
Revision:
0:bb408887ab78
P2_unfertig;

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kueenste 0:bb408887ab78 1 /*
kueenste 0:bb408887ab78 2 * LowpassFilter.h
kueenste 0:bb408887ab78 3 * Copyright (c) 2018, ZHAW
kueenste 0:bb408887ab78 4 * All rights reserved.
kueenste 0:bb408887ab78 5 */
kueenste 0:bb408887ab78 6
kueenste 0:bb408887ab78 7 #ifndef LOWPASS_FILTER_H_
kueenste 0:bb408887ab78 8 #define LOWPASS_FILTER_H_
kueenste 0:bb408887ab78 9
kueenste 0:bb408887ab78 10 #include <cstdlib>
kueenste 0:bb408887ab78 11
kueenste 0:bb408887ab78 12 /**
kueenste 0:bb408887ab78 13 * This class implements a time-discrete 2nd order lowpass filter for a series of data values.
kueenste 0:bb408887ab78 14 * This filter can typically be used within a periodic task that takes measurements that need
kueenste 0:bb408887ab78 15 * to be filtered, like speed or position values.
kueenste 0:bb408887ab78 16 */
kueenste 0:bb408887ab78 17 class LowpassFilter {
kueenste 0:bb408887ab78 18
kueenste 0:bb408887ab78 19 public:
kueenste 0:bb408887ab78 20
kueenste 0:bb408887ab78 21 LowpassFilter();
kueenste 0:bb408887ab78 22 virtual ~LowpassFilter();
kueenste 0:bb408887ab78 23 void reset();
kueenste 0:bb408887ab78 24 void reset(float value);
kueenste 0:bb408887ab78 25 void setPeriod(float period);
kueenste 0:bb408887ab78 26 void setFrequency(float frequency);
kueenste 0:bb408887ab78 27 float getFrequency();
kueenste 0:bb408887ab78 28 float filter(float value);
kueenste 0:bb408887ab78 29
kueenste 0:bb408887ab78 30 private:
kueenste 0:bb408887ab78 31
kueenste 0:bb408887ab78 32 float period;
kueenste 0:bb408887ab78 33 float frequency;
kueenste 0:bb408887ab78 34 float a11, a12, a21, a22, b1, b2;
kueenste 0:bb408887ab78 35 float x1, x2;
kueenste 0:bb408887ab78 36 };
kueenste 0:bb408887ab78 37
kueenste 0:bb408887ab78 38 #endif /* LOWPASS_FILTER_H_ */
kueenste 0:bb408887ab78 39