17 #ifndef __sot_torque_control_FilterDifferentiator_H__ 18 #define __sot_torque_control_FilterDifferentiator_H__ 24 #if defined(low_pass_filter_EXPORTS) 25 #define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllexport) 27 #define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllimport) 30 #define SOTFILTERDIFFERENTIATOR_EXPORT 41 #include <dynamic-graph/signal-helper.h> 59 :
public ::dynamicgraph::Entity {
60 DYNAMIC_GRAPH_ENTITY_DECL();
64 DECLARE_SIGNAL_IN(x, dynamicgraph::Vector);
66 DECLARE_SIGNAL_OUT(x_filtered, dynamicgraph::Vector);
67 DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector);
68 DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector);
83 DECLARE_SIGNAL_INNER(x_dx_ddx, dynamicgraph::Vector);
93 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
109 void init(
const double ×tep,
const int &xSize,
110 const Eigen::VectorXd &filter_numerator,
111 const Eigen::VectorXd &filter_denominator);
113 void switch_filter(
const Eigen::VectorXd &filter_numerator,
114 const Eigen::VectorXd &filter_denominator);
118 virtual void display(std::ostream &os)
const;
125 #endif // #ifndef __sot_torque_control_FilterDifferentiator_H__ CausalFilter * m_filter
polynomial-fitting filters
Definition: filter-differentiator.hh:90
Definition: causal-filter.hh:45
#define SOTFILTERDIFFERENTIATOR_EXPORT
Definition: filter-differentiator.hh:30
int m_x_size
sampling timestep of the input signal
Definition: filter-differentiator.hh:87
double m_dt
Definition: filter-differentiator.hh:86
Definition: filter-differentiator.hh:58
Definition: abstract-sot-external-interface.hh:17