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BlockLowPassVector.hpp
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33 
34 /**
35  * @file blocks.h
36  *
37  * Controller library code
38  */
39 
40 #pragma once
41 
42 #include <px4_platform_common/defines.h>
43 #include <assert.h>
44 #include <time.h>
45 #include <stdlib.h>
46 #include <math.h>
49 
50 #include "block/Block.hpp"
51 #include "block/BlockParam.hpp"
52 
53 #include "matrix/math.hpp"
54 
55 namespace control
56 {
57 
58 template<class Type, size_t M>
60 {
61 public:
62 // methods
64  const char *name) :
65  Block(parent, name),
66  _state(),
67  _fCut(this, "") // only one parameter, no need to name
68  {
69  for (size_t i = 0; i < M; i++) {
70  _state(i) = 0.0f / 0.0f;
71  }
72  }
73  virtual ~BlockLowPassVector() = default;
75  {
76  for (size_t i = 0; i < M; i++) {
77  if (!PX4_ISFINITE(getState()(i))) {
78  setState(input);
79  }
80  }
81 
82  float b = 2 * float(M_PI) * getFCut() * getDt();
83  float a = b / (1 + b);
84  setState(input * a + getState() * (1 - a));
85  return getState();
86  }
87 // accessors
88  matrix::Vector<Type, M> getState() { return _state; }
89  float getFCut() { return _fCut.get(); }
90  void setState(const matrix::Vector<Type, M> &state) { _state = state; }
91 private:
92 // attributes
95 };
96 
97 } // namespace control
static enum @74 state
matrix::Vector< Type, M > update(const matrix::Matrix< Type, M, 1 > &input)
Definition: I2C.hpp:51
matrix::Vector< Type, M > getState()
Controller library code.
control::BlockParamFloat _fCut
Controller library code.
void setState(const matrix::Vector< Type, M > &state)
Controller library code.
const char * name
Definition: tests_main.c:58
#define M_PI
Definition: gps_helper.cpp:38
matrix::Vector< Type, M > _state
BlockLowPassVector(SuperBlock *parent, const char *name)