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The MoveIt Motion Planning Framework for ROS 2.
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online_signal_smoothing::ButterworthFilter Class Reference

#include <butterworth_filter.h>

Public Member Functions

 ButterworthFilter (double low_pass_filter_coeff)
 
 ButterworthFilter ()=delete
 
double filter (double new_measurement)
 
void reset (const double data)
 

Detailed Description

Class ButterworthFilter - Implementation of a signal filter to soften jerks. This is a first-order Butterworth low-pass filter. First-order was chosen for 2 reasons:

Definition at line 65 of file butterworth_filter.h.

Constructor & Destructor Documentation

◆ ButterworthFilter() [1/2]

online_signal_smoothing::ButterworthFilter::ButterworthFilter ( double  low_pass_filter_coeff)

Constructor.

Parameters
low_pass_filter_coeffLarger filter_coeff-> more smoothing of commands, but more lag. low_pass_filter_coeff = (2*pi / tan(omega_d * T)) where omega_d is the cutoff frequency and T is the samping period in sec.

Definition at line 53 of file butterworth_filter.cpp.

◆ ButterworthFilter() [2/2]

online_signal_smoothing::ButterworthFilter::ButterworthFilter ( )
delete

Member Function Documentation

◆ filter()

double online_signal_smoothing::ButterworthFilter::filter ( double  new_measurement)

Definition at line 82 of file butterworth_filter.cpp.

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◆ reset()

void online_signal_smoothing::ButterworthFilter::reset ( const double  data)

Definition at line 94 of file butterworth_filter.cpp.

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