Contains functions for filtering signals with a low-pass filter. More...

#include <array>
#include <cmath>

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Functions
double	franka::lowpassFilter (double sample_time, double y, double y_last, double cutoff_frequency)
	Applies a first-order low-pass filter.

std::array< double, 16 >	franka::cartesianLowpassFilter (double sample_time, std::array< double, 16 > y, std::array< double, 16 > y_last, double cutoff_frequency)
	Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion.

Variables
constexpr double	franka::kMaxCutoffFrequency = 1000.0
	Maximum cutoff frequency.

constexpr double	franka::kDefaultCutoffFrequency = 100.0
	Default cutoff frequency.

Detailed Description

Contains functions for filtering signals with a low-pass filter.

Function Documentation

◆ cartesianLowpassFilter()

std::array< double, 16 > franka::cartesianLowpassFilter	(	double	sample_time,
		std::array< double, 16 >	y,
		std::array< double, 16 >	y_last,
		double	cutoff_frequency
	)

Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion.

Parameters

[in]	sample_time	Sample time constant
[in]	y	Current Cartesian transformation matrix to be filtered
[in]	y_last	Cartesian transformation matrix from the previous time step
[in]	cutoff_frequency	Cutoff frequency of the low-pass filter

Exceptions

std::invalid_argument	if elements of y is infinite or NaN.
std::invalid_argument	if elements of y_last is infinite or NaN.
std::invalid_argument	if cutoff_frequency is zero, negative, infinite or NaN.
std::invalid_argument	if sample_time is negative, infinite or NaN.

Returns: Filtered Cartesian transformation matrix.

◆ lowpassFilter()

double franka::lowpassFilter	(	double	sample_time,
		double	y,
		double	y_last,
		double	cutoff_frequency
	)

Applies a first-order low-pass filter.