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AlphaFilter.hpp
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33 
34 /**
35  * First order "alpha" IIR digital filter
36  * @author Mathieu Bresciani <brescianimathieu@gmail.com>
37  */
38 
39 #pragma once
40 
41 template<typename T>
42 class AlphaFilter final
43 {
44 public:
45  AlphaFilter() = default;
46  ~AlphaFilter() = default;
47 
48  void reset(const T &val) { _x = val; }
49 
50  void update(const T &input, float tau, float dt)
51  {
52  const float alpha = dt / tau;
53  update(input, alpha);
54  }
55 
56  void update(const T &input, float alpha)
57  {
58  _x = (1.f - alpha) * _x + alpha * input;
59  }
60 
61  // Typical 0.9/0.1 lowpass filter
62  void update(const T &input)
63  {
64  update(input, 0.1f);
65  }
66 
67  const T& getState() const { return _x; }
68 
69 private:
70  T _x{}; ///< current state of the filter
71 };
void update(const T &input, float alpha)
Definition: AlphaFilter.hpp:56
T _x
current state of the filter
Definition: AlphaFilter.hpp:70
First order "alpha" IIR digital filter.
Definition: AlphaFilter.hpp:42
const T & getState() const
Definition: AlphaFilter.hpp:67
AlphaFilter()=default
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
Definition: integration.cpp:8
void update(const T &input, float tau, float dt)
Definition: AlphaFilter.hpp:50
float dt
Definition: px4io.c:73
void reset(const T &val)
Definition: AlphaFilter.hpp:48
~AlphaFilter()=default
void update(const T &input)
Definition: AlphaFilter.hpp:62