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() [1/2]

BiQuad ( )

inline

Constructor.

BiQuad() [2/2]

BiQuad ( double  _fc, double  _fs  )

inline

Constructor.

Parameters

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

Member Function Documentation

GetValue()

virtual const T& GetValue ( )

inlinevirtualinherited

Get the output of the filter.

Returns

Filter's output.

process()

virtual const T& process ( const T &  _x )

inlinevirtual

Update the filter's output.

Parameters

[in]

_x

Input value.

Returns

The filter's current output.

SetFc() [1/2]

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 >.

SetFc() [2/2]

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.

SetValue()

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

a0

double a0

protected

Input gain control coefficients.

a1

double a1

protected

a2

double a2

protected

b0

double b0

protected

b1

double b1

protected

b2

double b2

protected

x1

T x1

protected

Gain of the feedback coefficients.

x2

T x2

protected

y0

T y0	protectedinherited

Output.

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

y1

T y1

protected

y2

T y2

protected

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

• Filter.hh