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/* |
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* Copyright 2017-, Rohan Budhirja, LAAS-CNRS |
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* |
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* This file is part of sot-torque-control. |
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* sot-torque-control is free software: you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation, either version 3 of |
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* the License, or (at your option) any later version. |
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* sot-torque-control is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. You should |
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* have received a copy of the GNU Lesser General Public License along |
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* with sot-torque-control. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#ifndef __sot_torque_control_FilterDifferentiator_H__ |
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#define __sot_torque_control_FilterDifferentiator_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(low_pass_filter_EXPORTS) |
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#define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFILTERDIFFERENTIATOR_EXPORT |
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#endif |
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//#define VP_DEBUG 1 /// enable debug output |
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//#define VP_DEBUG_MODE 20 |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* HELPER */ |
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#include <dynamic-graph/signal-helper.h> |
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#include <sot/core/causal-filter.hh> |
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#include <sot/core/stop-watch.hh> |
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namespace dynamicgraph { |
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namespace sot { |
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/** \addtogroup Filters |
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\section subsec_filterdiff FilterDifferentiator |
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This Entity takes as inputs a signal and applies a low pass filter |
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(implemented through CasualFilter) and computes finite difference derivative. |
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The input signal is provided through m_xSIN (an entity signal). |
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The filtered signal is given through m_x_filteredSOUT. |
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The first derivative of the filtered signal is provided with m_dxSOUT. |
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The second derivative of the filtered signal is provided with m_ddxSOUT. |
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*/ |
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class SOTFILTERDIFFERENTIATOR_EXPORT FilterDifferentiator |
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: public ::dynamicgraph::Entity { |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: /* --- SIGNALS --- */ |
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/// Input signals |
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DECLARE_SIGNAL_IN(x, dynamicgraph::Vector); |
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/// Output signal x_filtered |
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DECLARE_SIGNAL_OUT(x_filtered, dynamicgraph::Vector); |
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DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector); |
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DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector); |
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/// The following inner signals are used because this entity has |
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/// some output signals |
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/// whose related quantities are computed at the same time by the |
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/// same algorithm |
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/// To avoid the risk of recomputing the same things twice, |
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/// we create an inner signal that groups together |
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/// all the quantities that are computed together. |
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/// Then the single output signals will depend |
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/// on this inner signal, which is the one triggering the computations. |
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/// Inner signals are not exposed, so that nobody can access them. |
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/// This signal contains the estimated positions, velocities and |
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/// accelerations. |
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DECLARE_SIGNAL_INNER(x_dx_ddx, dynamicgraph::Vector); |
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protected: |
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double m_dt; /// sampling timestep of the input signal |
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int m_x_size; |
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/// polynomial-fitting filters |
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CausalFilter *m_filter; |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/** --- CONSTRUCTOR ---- */ |
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FilterDifferentiator(const std::string &name); |
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/** Initialize the FilterDifferentiator. |
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* @param timestep Period (in seconds) after which |
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* the sensors' data are updated. |
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* @param sigSize Size of the input signal. |
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* @param delay Delay (in seconds) introduced by the estimation. |
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* This should be a multiple of timestep. |
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* @note The estimationDelay is half of the length of the |
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* window used for the |
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* polynomial fitting. The larger the delay, |
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* the smoother the estimations. |
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*/ |
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void init(const double ×tep, const int &xSize, |
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const Eigen::VectorXd &filter_numerator, |
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const Eigen::VectorXd &filter_denominator); |
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void switch_filter(const Eigen::VectorXd &filter_numerator, |
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const Eigen::VectorXd &filter_denominator); |
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protected: |
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public: /* --- ENTITY INHERITANCE --- */ |
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virtual void display(std::ostream &os) const; |
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}; // class FilterDifferentiator |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __sot_torque_control_FilterDifferentiator_H__ |
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