BiQuad< T > Class Template Reference

Bi-quad filter base class. More...

#include <math/gzmath.hh>

Inherits Filter< T >.

Public Member Functions
	BiQuad ()
	Constructor. More...
	BiQuad (double _fc, double _fs)
	Constructor. More...
virtual const T &	GetValue ()
	Get the output of the filter. 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...

Protected Attributes
double	a0
	Input gain control coefficients. More...
double	a1
double	a2
double	b0
double	b1
double	b2
T	x1
	Gain of the feedback coefficients. More...
T	x2
T	y0
	Output. More...
T	y1
T	y2

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

BiQuad ( )

inline

Constructor.

BiQuad ( double  _fc, double  _fs  )

inline

Constructor.

Parameters

[in]	_fc	Cutoff frequency.
[in]	_fs	Sample rate.

Member Function Documentation

virtual const T& GetValue ( )

inlinevirtualinherited

Get the output of the filter.

Returns

Filter's output.

virtual const T& process ( const T &  _x )

inlinevirtual

Update the filter's output.

Parameters

[in]

_x

Input value.

Returns

The filter's current output.

void SetFc ( double  _fc, double  _fs  )

inlinevirtual

Set the cutoff frequency and sample rate.

Parameters

[in]	_fc	Cutoff frequency.
[in]	_fs	Sample rate.

Implements Filter< T >.

Referenced by BiQuad< math::Vector3 >::BiQuad(), and BiQuad< math::Vector3 >::SetFc().

void SetFc ( double  _fc, double  _fs, double  _q  )

inline

Set the cutoff frequency, sample rate and Q coefficient.

Parameters

[in]	_fc	Cutoff frequency.
[in]	_fs	Sample rate.
[in]	_q	Q coefficient.

virtual void SetValue ( const T &  _val )

inlinevirtual

Set the current filter's output.

Parameters

[in]

_val

New filter's output.

Reimplemented from Filter< T >.

Member Data Documentation

double a0

protected

Input gain control coefficients.

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetFc().

double a1

protected

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetFc().

double a2

protected

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetFc().

double b0

protected

Referenced by BiQuad< math::Vector3 >::SetFc().

double b1

protected

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetFc().

double b2

protected

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetFc().

T x1

protected

Gain of the feedback coefficients.

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetValue().

T x2

protected

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetValue().

T y0	protectedinherited

Output.

Referenced by Filter< math::Vector3 >::GetValue(), OnePole< math::Vector3 >::Process(), BiQuad< math::Vector3 >::process(), Filter< math::Vector3 >::SetValue(), and BiQuad< math::Vector3 >::SetValue().

T y1

protected

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetValue().

T y2

protected

Referenced by BiQuad< math::Vector3 >::process(), and BiQuad< math::Vector3 >::SetValue().

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

• Filter.hh