autoware::motion::control::trajectory_follower::Butterworth2dFilter Class Reference

2nd-order Butterworth Filter reference : S. Butterworth, "On the Theory of Filter Amplifier", Experimental wireless, 1930. More...

#include <lowpass_filter.hpp>

Public Member Functions
	Butterworth2dFilter (float64_t dt=0.01, float64_t f_cutoff_hz=5.0)
	constructor with initialization More...
	~Butterworth2dFilter ()
	destructor More...
void	initialize (const float64_t &dt, const float64_t &f_cutoff_hz)
	constructor More...
float64_t	filter (const float64_t &u)
	filtering (call this function at each sampling time with input) More...
void	filt_vector (const std::vector< float64_t > &t, std::vector< float64_t > &u) const
	filtering for time-series data More...
void	filtfilt_vector (const std::vector< float64_t > &t, std::vector< float64_t > &u) const
	filtering for time-series data from both forward-backward direction for zero phase delay More...
void	getCoefficients (std::vector< float64_t > &coeffs) const
	get filter coefficients More...

Detailed Description

2nd-order Butterworth Filter reference : S. Butterworth, "On the Theory of Filter Amplifier", Experimental wireless, 1930.

Constructor & Destructor Documentation

Butterworth2dFilter()

autoware::motion::control::trajectory_follower::Butterworth2dFilter::Butterworth2dFilter ( float64_t  dt = 0.01, float64_t  f_cutoff_hz = 5.0  )

explicit

constructor with initialization

Parameters

[in]	dt	sampling time
[in]	f_cutoff_hz	cutoff frequency [Hz]

~Butterworth2dFilter()

autoware::motion::control::trajectory_follower::Butterworth2dFilter::~Butterworth2dFilter

(

)

destructor

Member Function Documentation

filt_vector()

void autoware::motion::control::trajectory_follower::Butterworth2dFilter::filt_vector	(	const std::vector< float64_t > &	t,
		std::vector< float64_t > &	u
	)		const

filtering for time-series data

Parameters

[in]	t	time-series data for input vector
[out]	u	object vector

filter()

float64_t autoware::motion::control::trajectory_follower::Butterworth2dFilter::filter

(

const float64_t &

u

)

filtering (call this function at each sampling time with input)

Parameters

[in]

u

scalar input for filter

Returns

filtered scalar value

filtfilt_vector()

void autoware::motion::control::trajectory_follower::Butterworth2dFilter::filtfilt_vector	(	const std::vector< float64_t > &	t,
		std::vector< float64_t > &	u
	)		const

filtering for time-series data from both forward-backward direction for zero phase delay

Parameters

[in]	t	time-series data for input vector
[out]	u	object vector

getCoefficients()

void autoware::motion::control::trajectory_follower::Butterworth2dFilter::getCoefficients

(

std::vector< float64_t > &

coeffs

)

const

get filter coefficients

Parameters

[out]

coeffs

coefficients of filter [a0, a1, a2, b0, b1, b2].

initialize()

void autoware::motion::control::trajectory_follower::Butterworth2dFilter::initialize	(	const float64_t &	dt,
		const float64_t &	f_cutoff_hz
	)

constructor

Parameters

[in]	dt	sampling time
[in]	f_cutoff_hz	cutoff frequency [Hz]

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

• lowpass_filter.hpp
• lowpass_filter.cpp