OnePoleQuaternion Class Reference

One-pole quaternion filter. More...

#include <math/gzmath.hh>

Inherits OnePole< math::Quaternion >.

Public Member Functions
	OnePoleQuaternion () GAZEBO_DEPRECATED(8.0)
	Constructor. More...
	OnePoleQuaternion (double _fc, double _fs) GAZEBO_DEPRECATED(8.0)
	Constructor. More...
virtual const math::Quaternion &	GetValue () GAZEBO_DEPRECATED(8.0)
	Get the output of the filter. More...
const math::Quaternion &	Process (const math::Quaternion &_x)
	Update the filter's output. More...
virtual void	SetFc (double _fc, double _fs)
	Set the cutoff frequency and sample rate. More...
virtual void	SetValue (const math::Quaternion &_val) GAZEBO_DEPRECATED(8.0)
	Set the output of the filter. More...

Protected Attributes
double	a0
	Input gain control. More...
double	b1
	Gain of the feedback. More...
math::Quaternion	y0
	Output. More...

Detailed Description

One-pole quaternion filter.

Constructor & Destructor Documentation

OnePoleQuaternion ( )

inline

Constructor.

References Filter< math::Quaternion >::SetValue().

OnePoleQuaternion ( double  _fc, double  _fs  )

inline

Constructor.

Parameters

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

References Filter< math::Quaternion >::SetValue().

Member Function Documentation

virtual const math::Quaternion & GetValue ( )

inlinevirtualinherited

Get the output of the filter.

Returns

Filter's output.

const math::Quaternion& Process ( const math::Quaternion &  _x )

inline

Update the filter's output.

[in] _x Input value.

Returns

The filter's current output.

References OnePole< math::Quaternion >::a0, Quaternion::Slerp(), and Filter< math::Quaternion >::y0.

virtual void SetFc ( double  _fc, double  _fs  )

inlinevirtualinherited

Set the cutoff frequency and sample rate.

Parameters

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

Implements Filter< math::Quaternion >.

virtual void SetValue ( const math::Quaternion &  _val )

inlinevirtualinherited

Set the output of the filter.

Parameters

[in]

_val

New value.

Referenced by OnePoleQuaternion::OnePoleQuaternion().

Member Data Documentation

double a0

protectedinherited

Input gain control.

Referenced by OnePoleQuaternion::Process().

double b1

protectedinherited

Gain of the feedback.

math::Quaternion y0

protectedinherited

Output.

Referenced by OnePoleQuaternion::Process().

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

• Filter.hh