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LowpassFilter.cpp@4:85b8b4aa97a3, 2017-05-18 (annotated)
- Committer:
- freunjor
- Date:
- Thu May 18 13:25:31 2017 +0000
- Revision:
- 4:85b8b4aa97a3
- Parent:
- 1:d40ff07e2fe0
fdasdf
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
EHess | 1:d40ff07e2fe0 | 1 | #include "LowpassFilter.h" |
EHess | 1:d40ff07e2fe0 | 2 | |
EHess | 1:d40ff07e2fe0 | 3 | //E. Hess |
EHess | 1:d40ff07e2fe0 | 4 | //LowpassFilter.cpp |
EHess | 1:d40ff07e2fe0 | 5 | |
EHess | 1:d40ff07e2fe0 | 6 | using namespace std; |
EHess | 1:d40ff07e2fe0 | 7 | |
EHess | 1:d40ff07e2fe0 | 8 | /** |
EHess | 1:d40ff07e2fe0 | 9 | * Creates a LowpassFilter object with a default corner frequency of 1000 [rad/s]. |
EHess | 1:d40ff07e2fe0 | 10 | */ |
EHess | 1:d40ff07e2fe0 | 11 | LowpassFilter::LowpassFilter() { |
EHess | 1:d40ff07e2fe0 | 12 | |
EHess | 1:d40ff07e2fe0 | 13 | period = 1.0f; |
EHess | 1:d40ff07e2fe0 | 14 | frequency = 1000.0f; |
EHess | 1:d40ff07e2fe0 | 15 | |
EHess | 1:d40ff07e2fe0 | 16 | a11 = (1.0f+frequency*period)*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 17 | a12 = period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 18 | a21 = -frequency*frequency*period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 19 | a22 = (1.0f-frequency*period)*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 20 | b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency; |
EHess | 1:d40ff07e2fe0 | 21 | b2 = period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 22 | |
EHess | 1:d40ff07e2fe0 | 23 | x1 = 0.0f; |
EHess | 1:d40ff07e2fe0 | 24 | x2 = 0.0f; |
EHess | 1:d40ff07e2fe0 | 25 | } |
EHess | 1:d40ff07e2fe0 | 26 | |
EHess | 1:d40ff07e2fe0 | 27 | /** |
EHess | 1:d40ff07e2fe0 | 28 | * Deletes the LowpassFilter object. |
EHess | 1:d40ff07e2fe0 | 29 | */ |
EHess | 1:d40ff07e2fe0 | 30 | LowpassFilter::~LowpassFilter() {} |
EHess | 1:d40ff07e2fe0 | 31 | |
EHess | 1:d40ff07e2fe0 | 32 | /** |
EHess | 1:d40ff07e2fe0 | 33 | * Resets the filtered value to zero. |
EHess | 1:d40ff07e2fe0 | 34 | */ |
EHess | 1:d40ff07e2fe0 | 35 | void LowpassFilter::reset() { |
EHess | 1:d40ff07e2fe0 | 36 | |
EHess | 1:d40ff07e2fe0 | 37 | x1 = 0.0f; |
EHess | 1:d40ff07e2fe0 | 38 | x2 = 0.0f; |
EHess | 1:d40ff07e2fe0 | 39 | } |
EHess | 1:d40ff07e2fe0 | 40 | |
EHess | 1:d40ff07e2fe0 | 41 | /** |
EHess | 1:d40ff07e2fe0 | 42 | * Resets the filtered value to a given value. |
EHess | 1:d40ff07e2fe0 | 43 | * @param value the value to reset the filter to. |
EHess | 1:d40ff07e2fe0 | 44 | */ |
EHess | 1:d40ff07e2fe0 | 45 | void LowpassFilter::reset(float value) { |
EHess | 1:d40ff07e2fe0 | 46 | |
EHess | 1:d40ff07e2fe0 | 47 | x1 = value/frequency/frequency; |
EHess | 1:d40ff07e2fe0 | 48 | x2 = (x1-a11*x1-b1*value)/a12; |
EHess | 1:d40ff07e2fe0 | 49 | } |
EHess | 1:d40ff07e2fe0 | 50 | |
EHess | 1:d40ff07e2fe0 | 51 | /** |
EHess | 1:d40ff07e2fe0 | 52 | * Sets the sampling period of the filter. |
EHess | 1:d40ff07e2fe0 | 53 | * This is typically the sampling period of the realtime thread of a controller that uses this filter. |
EHess | 1:d40ff07e2fe0 | 54 | * @param the sampling period, given in [s]. |
EHess | 1:d40ff07e2fe0 | 55 | */ |
EHess | 1:d40ff07e2fe0 | 56 | void LowpassFilter::setPeriod(float period) { |
EHess | 1:d40ff07e2fe0 | 57 | |
EHess | 1:d40ff07e2fe0 | 58 | this->period = period; |
EHess | 1:d40ff07e2fe0 | 59 | |
EHess | 1:d40ff07e2fe0 | 60 | a11 = (1.0f+frequency*period)*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 61 | a12 = period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 62 | a21 = -frequency*frequency*period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 63 | a22 = (1.0f-frequency*period)*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 64 | b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency; |
EHess | 1:d40ff07e2fe0 | 65 | b2 = period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 66 | } |
EHess | 1:d40ff07e2fe0 | 67 | |
EHess | 1:d40ff07e2fe0 | 68 | /** |
EHess | 1:d40ff07e2fe0 | 69 | * Sets the corner frequency of this filter. |
EHess | 1:d40ff07e2fe0 | 70 | * @param frequency the corner frequency of the filter in [rad/s]. |
EHess | 1:d40ff07e2fe0 | 71 | */ |
EHess | 1:d40ff07e2fe0 | 72 | void LowpassFilter::setFrequency(float frequency) { |
EHess | 1:d40ff07e2fe0 | 73 | |
EHess | 1:d40ff07e2fe0 | 74 | this->frequency = frequency; |
EHess | 1:d40ff07e2fe0 | 75 | |
EHess | 1:d40ff07e2fe0 | 76 | a11 = (1.0f+frequency*period)*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 77 | a12 = period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 78 | a21 = -frequency*frequency*period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 79 | a22 = (1.0f-frequency*period)*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 80 | b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency; |
EHess | 1:d40ff07e2fe0 | 81 | b2 = period*exp(-frequency*period); |
EHess | 1:d40ff07e2fe0 | 82 | } |
EHess | 1:d40ff07e2fe0 | 83 | |
EHess | 1:d40ff07e2fe0 | 84 | /** |
EHess | 1:d40ff07e2fe0 | 85 | * Gets the current corner frequency of this filter. |
EHess | 1:d40ff07e2fe0 | 86 | * @return the current corner frequency in [rad/s]. |
EHess | 1:d40ff07e2fe0 | 87 | */ |
EHess | 1:d40ff07e2fe0 | 88 | float LowpassFilter::getFrequency() { |
EHess | 1:d40ff07e2fe0 | 89 | |
EHess | 1:d40ff07e2fe0 | 90 | return frequency; |
EHess | 1:d40ff07e2fe0 | 91 | } |
EHess | 1:d40ff07e2fe0 | 92 | |
EHess | 1:d40ff07e2fe0 | 93 | /** |
EHess | 1:d40ff07e2fe0 | 94 | * Filters a value. |
EHess | 1:d40ff07e2fe0 | 95 | * @param value the original unfiltered value. |
EHess | 1:d40ff07e2fe0 | 96 | * @return the filtered value. |
EHess | 1:d40ff07e2fe0 | 97 | */ |
EHess | 1:d40ff07e2fe0 | 98 | float LowpassFilter::filter(float value) { |
EHess | 1:d40ff07e2fe0 | 99 | |
EHess | 1:d40ff07e2fe0 | 100 | float x1old = x1; |
EHess | 1:d40ff07e2fe0 | 101 | float x2old = x2; |
EHess | 1:d40ff07e2fe0 | 102 | |
EHess | 1:d40ff07e2fe0 | 103 | x1 = a11*x1old+a12*x2old+b1*value; |
EHess | 1:d40ff07e2fe0 | 104 | x2 = a21*x1old+a22*x2old+b2*value; |
EHess | 1:d40ff07e2fe0 | 105 | |
EHess | 1:d40ff07e2fe0 | 106 | return frequency*frequency*x1; |
EHess | 1:d40ff07e2fe0 | 107 | } |