apollo::common::DigitalFilter Class Reference

The DigitalFilter class is used to pass signals with a frequency lower than a certain cutoff frequency and attenuates signals with frequencies higher than the cutoff frequency. More...

#include <digital_filter.h>

Collaboration diagram for apollo::common::DigitalFilter:

Public Member Functions
	DigitalFilter ()=default
	DigitalFilter (const std::vector< double > &denominators, const std::vector< double > &numerators)
	Initializes a DigitalFilter with given denominators and numerators. More...
	~DigitalFilter ()=default
	Default destructor. More...
double	Filter (const double x_insert)
	Processes a new measurement with the filter. More...
void	set_denominators (const std::vector< double > &denominators)
	set denominators by an input vector More...
void	set_numerators (const std::vector< double > &numerators)
	set numerators by an input vector More...
void	set_coefficients (const std::vector< double > &denominators, const std::vector< double > &numerators)
	set denominators and numerators More...
void	set_dead_zone (const double deadzone)
	set filter deadzone More...
void	reset_values ()
	re-set the x_values_ and y_values_ More...
const std::vector< double > &	denominators () const
	get denominators More...
const std::vector< double > &	numerators () const
	get numerators More...
double	dead_zone () const
	get dead_zone More...
const std::deque< double > &	inputs_queue () const
	get inputs of the filter More...
const std::deque< double > &	outputs_queue () const
	get outputs of the filter More...

Detailed Description

The DigitalFilter class is used to pass signals with a frequency lower than a certain cutoff frequency and attenuates signals with frequencies higher than the cutoff frequency.

Constructor & Destructor Documentation

DigitalFilter() [1/2]

apollo::common::DigitalFilter::DigitalFilter ( )

default

DigitalFilter() [2/2]

apollo::common::DigitalFilter::DigitalFilter	(	const std::vector< double > &	denominators,
		const std::vector< double > &	numerators
	)

Initializes a DigitalFilter with given denominators and numerators.

Parameters

denominators	The denominators of the DigitalFilter.
numerators	The numerators of the DigitalFilter.

~DigitalFilter()

apollo::common::DigitalFilter::~DigitalFilter ( )

default

Default destructor.

Member Function Documentation

dead_zone()

double apollo::common::DigitalFilter::dead_zone

(

)

const

get dead_zone

Returns

double The dead_zone

denominators()

const std::vector<double>& apollo::common::DigitalFilter::denominators

(

)

const

get denominators

Returns

vector<double> The denominators of filter

Filter()

double apollo::common::DigitalFilter::Filter

(

const double

x_insert

)

Processes a new measurement with the filter.

Parameters

x_insert

The new input to be processed by the filter.

inputs_queue()

const std::deque<double>& apollo::common::DigitalFilter::inputs_queue

(

)

const

get inputs of the filter

Returns

deque<double> The queue of inputs of filter

numerators()

const std::vector<double>& apollo::common::DigitalFilter::numerators

(

)

const

get numerators

Returns

vector<double> The numerators of filter

outputs_queue()

const std::deque<double>& apollo::common::DigitalFilter::outputs_queue

(

)

const

get outputs of the filter

Returns

deque<double> The queue of outputs of filter

reset_values()

void apollo::common::DigitalFilter::reset_values

(

)

re-set the x_values_ and y_values_

Parameters

deadzone

The value of deadzone

set_coefficients()

void apollo::common::DigitalFilter::set_coefficients	(	const std::vector< double > &	denominators,
		const std::vector< double > &	numerators
	)

set denominators and numerators

Parameters

denominators	The denominators of filter
numerators	The numerators of filter

set_dead_zone()

void apollo::common::DigitalFilter::set_dead_zone

(

const double

deadzone

)

set filter deadzone

Parameters

deadzone

The value of deadzone

set_denominators()

void apollo::common::DigitalFilter::set_denominators

(

const std::vector< double > &

denominators

)

set denominators by an input vector

: Filter by the input x_insert Input: new value of x_insert Remove x[n - 1], insert x_insert into x[0] Remove y[n - 1], Solve den[0] * y + den[1] * y[0] + ... + den[n - 1]*y[n - 2] = num[0] * x[0] + num[1] * x[1] + ... + num[n - 1] * x[n - 1] for y Insert y into y[0] Output: y[0]

Parameters

denominators

The denominators of filter

set_numerators()

void apollo::common::DigitalFilter::set_numerators

(

const std::vector< double > &

numerators

)

set numerators by an input vector

Parameters

numerators

The numerators of filter

---

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

• modules/common/filters/digital_filter.h