lowpass_filter.h

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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <array>
#include <cmath>
 
namespace franka {
constexpr double kMaxCutoffFrequency = 1000.0;
constexpr double kDefaultCutoffFrequency = 100.0;
double lowpassFilter(double sample_time, double y, double y_last, double cutoff_frequency);
 
std::array<double, 16> cartesianLowpassFilter(double sample_time,
                                              std::array<double, 16> y,
                                              std::array<double, 16> y_last,
                                              double cutoff_frequency);
}  // namespace franka