cpp_robotics::NotchFilter

ノッチフィルタ

#include <notch_filter.hpp>

Inherits from cpp_robotics::TransferFunction

Public Functions

	Name
	NotchFilter(double omega, double zeta, double d, double dt) Construct a new Notch Filter object.
double	filtering(double u) フィルタリングする
double	omega() const 中心周波数[rad/s]
double	zeta() const 鋭さ
double	d() const 深さ

Additional inherited members

Public Classes inherited from cpp_robotics::TransferFunction

	Name
struct	tf_t

Protected Classes inherited from cpp_robotics::TransferFunction

	Name
class	CircularBuffer

Public Functions inherited from cpp_robotics::TransferFunction

	Name
TransferFunction	make_first_order_system(const double T, const double Ts)
TransferFunction	make_second_order_system(const double omega, const double zeta, const double Ts)
	TransferFunction() =default
	TransferFunction(std::vector< double > num, std::vector< double > den, const double Ts) Construct a new Transfer Function object.
	TransferFunction(const tf_t & tf_config)
void	set_continuous(std::vector< double > num, std::vector< double > den, const double dt)
void	set_discrite(std::vector< double > num_disc, std::vector< double > den_disc, const double dt)
double	Ts() const サンプリング周期
virtual void	reset(double state =0)
double	responce(double u)
size_t	num_deg(size_t num_idx =0) const
size_t	den_deg(size_t num_idx =0) const
std::vector< double >	num_array() const
std::vector< double >	den_array() const
	operator tf_t() const
tf_t	inv() const
tf_t	operator+(double val) const
tf_t	operator-(double val) const
tf_t	operator*(double val) const
tf_t	operator/(double val) const

Protected Attributes inherited from cpp_robotics::TransferFunction

	Name
std::vector< double >	num_array_
std::vector< double >	den_array_
std::vector< double >	num_
std::vector< double >	den_
CircularBuffer< double >	u_
CircularBuffer< double >	y_
double	dt_

Friends inherited from cpp_robotics::TransferFunction

	Name
tf_t	operator+(double val, const TransferFunction & tf)
tf_t	operator-(double val, const TransferFunction & tf)
tf_t	operator*(double val, const TransferFunction & tf)
tf_t	operator/(double val, const TransferFunction & tf)
tf_t	operator+(const tf_t & a, const TransferFunction & b)
tf_t	operator-(const tf_t & a, const TransferFunction & b)
tf_t	operator*(const tf_t & a, const TransferFunction & b)
tf_t	operator/(const tf_t & a, const TransferFunction & b)
tf_t	operator+(const TransferFunction & a, const tf_t & b)
tf_t	operator-(const TransferFunction & a, const tf_t & b)
tf_t	operator*(const TransferFunction & a, const tf_t & b)
tf_t	operator/(const TransferFunction & a, const tf_t & b)
tf_t	operator+(const TransferFunction & a, const TransferFunction & b)
tf_t	operator-(const TransferFunction & a, const TransferFunction & b)
tf_t	operator*(const TransferFunction & a, const TransferFunction & b)
tf_t	operator/(const TransferFunction & a, const TransferFunction & b)
std::ostream &	operator<<(std::ostream & stream, const TransferFunction & tf)

Public Functions Documentation

function NotchFilter

inline NotchFilter(
    double omega,
    double zeta,
    double d,
    double dt
)

Construct a new Notch Filter object.

Parameters:

• omega 中心周波数[rad/s]
• zeta 鋭さ
• d 深さ(0.0で一番深く、1.0に近づけるほどフィルタの効果が弱くなる)
• dt サンプリング周期

function filtering

inline double filtering(
    double u
)

フィルタリングする

Parameters:

• u

Return: double

function omega

inline double omega() const

中心周波数[rad/s]

Return: double

function zeta

inline double zeta() const

鋭さ

Return: double

function d

inline double d() const

深さ

Return: double

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Updated on 2024-05-28 at 06:55:39 +0000