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Public Member Functions | Private Attributes | List of all members
ThirdOrderFilter Class Reference

#include <filter_utils.h>

Public Member Functions

 ThirdOrderFilter ()
 
 ThirdOrderFilter (double _dt, double _x_current, double _x_goal, double _omega, double _zeta)
 
void setReference (double _x_goal)
 
void setParameters (double _frequency, double _damping)
 
void setTimestep (double _dt)
 
void setCurrentPos (double _x_current)
 
double getPosition ()
 
double getSpeed ()
 
double getAcceleration ()
 
void updateFilter ()
 
Eigen::Matrix< double, 3, 1 > getState ()
 
double getGoalPos ()
 

Private Attributes

Eigen::Matrix< double, 3, 1 > X = Eigen::Matrix<double, 3, 1>::Zero()
 
double x_goal
 
double dt
 
Eigen::Matrix< double, 3, 3 > A_d
 
Eigen::Matrix< double, 3, 1 > B_d
 

Detailed Description

Definition at line 6 of file filter_utils.h.

Constructor & Destructor Documentation

◆ ThirdOrderFilter() [1/2]

ThirdOrderFilter::ThirdOrderFilter ( )
inline

Definition at line 9 of file filter_utils.h.

◆ ThirdOrderFilter() [2/2]

ThirdOrderFilter::ThirdOrderFilter ( double  _dt,
double  _x_current,
double  _x_goal,
double  _omega,
double  _zeta 
)

Definition at line 3 of file filter_utils.cpp.

Member Function Documentation

◆ setReference()

void ThirdOrderFilter::setReference ( double  _x_goal)
inline

Definition at line 11 of file filter_utils.h.

◆ setParameters()

void ThirdOrderFilter::setParameters ( double  _frequency,
double  _damping 
)

Definition at line 29 of file filter_utils.cpp.

◆ setTimestep()

void ThirdOrderFilter::setTimestep ( double  _dt)
inline

Definition at line 13 of file filter_utils.h.

◆ setCurrentPos()

void ThirdOrderFilter::setCurrentPos ( double  _x_current)
inline

Definition at line 14 of file filter_utils.h.

◆ getPosition()

double ThirdOrderFilter::getPosition ( )
inline

Definition at line 15 of file filter_utils.h.

◆ getSpeed()

double ThirdOrderFilter::getSpeed ( )
inline

Definition at line 16 of file filter_utils.h.

◆ getAcceleration()

double ThirdOrderFilter::getAcceleration ( )
inline

Definition at line 17 of file filter_utils.h.

◆ updateFilter()

void ThirdOrderFilter::updateFilter ( )

Definition at line 23 of file filter_utils.cpp.

◆ getState()

Eigen::Matrix<double, 3, 1> ThirdOrderFilter::getState ( )
inline

Definition at line 19 of file filter_utils.h.

◆ getGoalPos()

double ThirdOrderFilter::getGoalPos ( )
inline

Definition at line 20 of file filter_utils.h.

Member Data Documentation

◆ X

Eigen::Matrix<double, 3, 1> ThirdOrderFilter::X = Eigen::Matrix<double, 3, 1>::Zero()
private

Definition at line 22 of file filter_utils.h.

◆ x_goal

double ThirdOrderFilter::x_goal
private

Definition at line 23 of file filter_utils.h.

◆ dt

double ThirdOrderFilter::dt
private

Definition at line 24 of file filter_utils.h.

◆ A_d

Eigen::Matrix<double, 3, 3> ThirdOrderFilter::A_d
private

Definition at line 25 of file filter_utils.h.

◆ B_d

Eigen::Matrix<double, 3, 1> ThirdOrderFilter::B_d
private

Definition at line 26 of file filter_utils.h.

The documentation for this class was generated from the following files: