Public Member Functions | Protected Attributes | List of all members
gazebo::math::BiQuad< T > Class Template Reference

Bi-quad filter base class. More...

#include <math/gzmath.hh>

Inheritance diagram for gazebo::math::BiQuad< T >:
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Public Member Functions

 BiQuad ()
 Constructor. More...
 
 BiQuad (double _fc, double _fs)
 Constructor. More...
 
virtual const T & process (const T &_x)
 Update the filter's output. More...
 
void SetFc (double _fc, double _fs)
 Set the cutoff frequency and sample rate. More...
 
void SetFc (double _fc, double _fs, double _q)
 Set the cutoff frequency, sample rate and Q coefficient. More...
 
virtual void SetValue (const T &_val)
 Set the current filter's output. More...
 
- Public Member Functions inherited from gazebo::math::Filter< T >
virtual ~Filter ()
 Destructor. More...
 
virtual const T & GetValue ()
 Get the output of the filter. More...
 

Protected Attributes

double a0
 Input gain control coefficients. More...
 
double a1
 
double a2
 
double b0
 
double b1
 
double b2
 
x1
 Gain of the feedback coefficients. More...
 
x2
 
y1
 
y2
 
- Protected Attributes inherited from gazebo::math::Filter< T >
y0
 Output. More...
 

Detailed Description

template<class T>
class gazebo::math::BiQuad< T >

Bi-quad filter base class.

See Also
http://www.earlevel.com/main/2003/03/02/the-bilinear-z-transform/

Constructor & Destructor Documentation

template<class T>
gazebo::math::BiQuad< T >::BiQuad ( )
inline

Constructor.

template<class T>
gazebo::math::BiQuad< T >::BiQuad ( double  _fc,
double  _fs 
)
inline

Constructor.

Parameters
[in]_fcCutoff frequency.
[in]_fsSample rate.

Member Function Documentation

template<class T>
virtual const T& gazebo::math::BiQuad< T >::process ( const T &  _x)
inlinevirtual

Update the filter's output.

Parameters
[in]_xInput value.
Returns
The filter's current output.
template<class T>
void gazebo::math::BiQuad< T >::SetFc ( double  _fc,
double  _fs 
)
inlinevirtual

Set the cutoff frequency and sample rate.

Parameters
[in]_fcCutoff frequency.
[in]_fsSample rate.

Implements gazebo::math::Filter< T >.

template<class T>
void gazebo::math::BiQuad< T >::SetFc ( double  _fc,
double  _fs,
double  _q 
)
inline

Set the cutoff frequency, sample rate and Q coefficient.

Parameters
[in]_fcCutoff frequency.
[in]_fsSample rate.
[in]_qQ coefficient.
template<class T>
virtual void gazebo::math::BiQuad< T >::SetValue ( const T &  _val)
inlinevirtual

Set the current filter's output.

Parameters
[in]_valNew filter's output.

Reimplemented from gazebo::math::Filter< T >.

Member Data Documentation

template<class T>
double gazebo::math::BiQuad< T >::a0
protected

Input gain control coefficients.

template<class T>
double gazebo::math::BiQuad< T >::a1
protected
template<class T>
double gazebo::math::BiQuad< T >::a2
protected
template<class T>
double gazebo::math::BiQuad< T >::b0
protected
template<class T>
double gazebo::math::BiQuad< T >::b1
protected
template<class T>
double gazebo::math::BiQuad< T >::b2
protected
template<class T>
T gazebo::math::BiQuad< T >::x1
protected

Gain of the feedback coefficients.

template<class T>
T gazebo::math::BiQuad< T >::x2
protected
template<class T>
T gazebo::math::BiQuad< T >::y1
protected
template<class T>
T gazebo::math::BiQuad< T >::y2
protected

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