gazebo::math::BiQuad< T > Class Template Reference

Bi-quad filter base class. More...

#include <math/gzmath.hh>

Inheritance diagram for gazebo::math::BiQuad< T >:

Public Member Functions
	BiQuad ()
	Constructor. More...
	BiQuad (double _fc, double _fs)
	Constructor. 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...
Public Member Functions inherited from gazebo::math::Filter< T >
virtual	~Filter ()
	Destructor. More...
virtual const T &	GetValue ()
	Get the output of the filter. 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	y1
T	y2
Protected Attributes inherited from gazebo::math::Filter< T >
T	y0
	Output. More...

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

template<class T>

gazebo::math::BiQuad< T >::BiQuad ( )

inline

Constructor.

template<class T>

gazebo::math::BiQuad< T >::BiQuad ( double  _fc, double  _fs  )

inline

Constructor.

Parameters

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

Member Function Documentation

template<class T>

virtual const T& gazebo::math::BiQuad< T >::process ( const T &  _x )

inlinevirtual

Update the filter's output.

Parameters

[in]

_x

Input value.

Returns

The filter's current output.

template<class T>

void gazebo::math::BiQuad< T >::SetFc ( double  _fc, double  _fs  )

inlinevirtual

Set the cutoff frequency and sample rate.

Parameters

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

Implements gazebo::math::Filter< T >.

template<class T>

void gazebo::math::BiQuad< T >::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.

template<class T>

virtual void gazebo::math::BiQuad< T >::SetValue ( const T &  _val )

inlinevirtual

Set the current filter's output.

Parameters

[in]

_val

New filter's output.

Reimplemented from gazebo::math::Filter< T >.

Member Data Documentation

template<class T>

double gazebo::math::BiQuad< T >::a0

protected

Input gain control coefficients.

template<class T>

double gazebo::math::BiQuad< T >::a1

protected

template<class T>

double gazebo::math::BiQuad< T >::a2

protected

template<class T>

double gazebo::math::BiQuad< T >::b0

protected

template<class T>

double gazebo::math::BiQuad< T >::b1

protected

template<class T>

double gazebo::math::BiQuad< T >::b2

protected

template<class T>

T gazebo::math::BiQuad< T >::x1

protected

Gain of the feedback coefficients.

template<class T>

T gazebo::math::BiQuad< T >::x2

protected

template<class T>

T gazebo::math::BiQuad< T >::y1

protected

template<class T>

T gazebo::math::BiQuad< T >::y2

protected

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

• Filter.hh