10 #ifndef __SOT_FIRFILTER_HH__ 11 #define __SOT_FIRFILTER_HH__ 13 #include <dynamic-graph/all-signals.h> 14 #include <dynamic-graph/command-getter.h> 15 #include <dynamic-graph/command-setter.h> 16 #include <dynamic-graph/entity.h> 39 start = buf.size() - 1;
42 if (numel < buf.size()) {
58 assert((i < numel) &&
"Youre accessing an empty buffer");
59 size_t index = (start + i) % buf.size();
62 size_t size()
const {
return numel; }
71 template <
class sigT,
class coefT>
75 using ::dynamicgraph::command::Command;
76 using ::dynamicgraph::command::Value;
78 template <
class sigT,
class coefT>
85 template <
class sigT,
class coefT>
93 using ::dynamicgraph::command::Getter;
94 using ::dynamicgraph::command::Setter;
96 template <
class sigT,
class coefT>
100 return Entity::getClassName();
106 return "Finite impulse response filter\n" 108 " Provide the following sum in output signal:\n" 111 " y (n) = \\ c s (n-i) \n" 116 " - c_i are coefficients stored in an array\n" 117 " - N is the size of the array\n" 118 " - s is the input signal.\n";
124 SIN(NULL,
"sotFIRFilter(" + name +
")::input(T)::sin"),
125 SOUT(boost::bind(&
FIRFilter::compute, this, _1, _2), SIN,
126 "sotFIRFilter(" + name +
")::output(T)::sout") {
127 signalRegistration(SIN << SOUT);
128 std::string docstring =
129 " Set element at rank in array of coefficients\n" 132 " - positive int: rank\n" 134 addCommand(
"setElement",
137 " Get element at rank in array of coefficients\n" 140 " - positive int: rank\n" 143 addCommand(
"getElement",
146 " Set number of coefficients\n" 149 " - positive int: size\n";
150 addCommand(
"setSize",
new Setter<FIRFilter, unsigned>(
154 " Get Number of coefficients\n" 157 " - positive int: size\n";
158 addCommand(
"getSize",
new Getter<FIRFilter, unsigned>(
165 const sigT &in = SIN.access(time);
166 reset_signal(res, in);
169 size_t SIZE = std::min(data.size(), coefs.size());
170 for (
size_t i = 0; i < SIZE; ++i) {
171 res += coefs[i] * data[i];
178 size_t s =
static_cast<size_t>(
size);
179 data.reset_capacity(s);
184 return static_cast<unsigned int>(coefs.size());
187 void setElement(
const unsigned int &rank,
const coefT &coef) {
191 coefT
getElement(
const unsigned int &rank)
const {
return coefs[rank]; }
197 SignalTimeDependent<sigT, int>
SOUT;
200 std::vector<coefT> coefs;
205 using ::dynamicgraph::command::Command;
206 using ::dynamicgraph::command::Value;
207 using ::dynamicgraph::command::ValueHelper;
209 template <
class sigT,
class coefT>
211 const std::string &docstring)
214 boost::assign::list_of(Value::UNSIGNED)(ValueHelper<coefT>::TypeID),
217 template <
class sigT,
class coefT>
221 std::vector<Value> values = getParameterValues();
222 unsigned int rank = values[0].value();
223 coefT coef = values[1].value();
228 template <
class sigT,
class coefT>
230 const std::string &docstring)
231 : Command(entity, boost::assign::list_of(Value::UNSIGNED), docstring) {}
233 template <
class sigT,
class coefT>
237 std::vector<Value> values = getParameterValues();
238 unsigned int rank = values[0].value();
coefT getElement(const unsigned int &rank) const
Definition: fir-filter.hh:191
virtual sigT & compute(sigT &res, int time)
Definition: fir-filter.hh:164
Value doExecute()
Definition: fir-filter.hh:218
unsigned int getBufferSize() const
Definition: fir-filter.hh:183
size_t size() const
Definition: fir-filter.hh:62
virtual const std::string & getClassName() const
Definition: fir-filter.hh:99
Definition: fir-filter.hh:79
FIRFilter(const std::string &name)
Definition: fir-filter.hh:122
Definition: fir-filter.hh:86
SignalPtr< sigT, int > SIN
Definition: fir-filter.hh:196
void resizeBuffer(const unsigned int &size)
Definition: fir-filter.hh:177
static void reset_signal(sigT &, const sigT &)
Definition: fir-filter.hh:193
void push_front(const T &data)
Definition: fir-filter.hh:35
void reset_capacity(size_t n)
Definition: fir-filter.hh:46
static std::string getTypeName(void)
Definition: fir-filter.hh:102
Definition: fir-filter.hh:32
void reset_capacity(size_t n, const T &el)
Definition: fir-filter.hh:51
circular_buffer()
Definition: fir-filter.hh:34
Definition: fir-filter.hh:72
virtual ~FIRFilter()
Definition: fir-filter.hh:162
SignalTimeDependent< sigT, int > SOUT
Definition: fir-filter.hh:197
static const std::string CLASS_NAME
Definition: fir-filter.hh:103
void setElement(const unsigned int &rank, const coefT &coef)
Definition: fir-filter.hh:187
GetElement(FIRFilter< sigT, coefT > &entity, const std::string &docstring)
Definition: fir-filter.hh:229
std::string getDocString() const
Definition: fir-filter.hh:105
Value doExecute()
Definition: fir-filter.hh:234
Definition: abstract-sot-external-interface.hh:17
T & operator[](size_t i)
Definition: fir-filter.hh:57