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>
58 :
public ::dynamicgraph::Entity {
59 DYNAMIC_GRAPH_ENTITY_DECL();
92 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
108 void init(
const double ×tep,
const int &xSize,
109 const Eigen::VectorXd &filter_numerator,
110 const Eigen::VectorXd &filter_denominator);
113 const Eigen::VectorXd &filter_denominator);
Definition: causal-filter.hh:45
Definition: filter-differentiator.hh:58
virtual void display(std::ostream &os) const
DECLARE_SIGNAL_INNER(x_dx_ddx, dynamicgraph::Vector)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW FilterDifferentiator(const std::string &name)
double m_dt
Definition: filter-differentiator.hh:85
int m_x_size
sampling timestep of the input signal
Definition: filter-differentiator.hh:86
void init(const double ×tep, const int &xSize, const Eigen::VectorXd &filter_numerator, const Eigen::VectorXd &filter_denominator)
DECLARE_SIGNAL_OUT(x_filtered, dynamicgraph::Vector)
Output signal x_filtered.
DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector)
DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector)
CausalFilter * m_filter
polynomial-fitting filters
Definition: filter-differentiator.hh:89
void switch_filter(const Eigen::VectorXd &filter_numerator, const Eigen::VectorXd &filter_denominator)
DECLARE_SIGNAL_IN(x, dynamicgraph::Vector)
Input signals.
#define SOTFILTERDIFFERENTIATOR_EXPORT
Definition: filter-differentiator.hh:30
Definition: abstract-sot-external-interface.hh:17