lpf_1.tpp

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#include "../../include/low_pass/lpf_1.h"
 
template <typename T>
filter::low_pass::LPF_1<T>::LPF_1()
{
    reset();
}
 
template <typename T>
void filter::low_pass::LPF_1<T>::config(T fc_, T dt_)
{
    set_param(fc_, dt_);
}
 
template <typename T>
void filter::low_pass::LPF_1<T>::set_param(T fc_, T dt_)
{
    fc = fc_;
    dt = dt_;
    tau = 1.0 / (6.28318530717958647692528676655900576 * fc);
    alpha = dt / (dt + tau);
}
 
template <typename T>
T filter::low_pass::LPF_1<T>::update(T x_k)
{
    T y_k = 0.0;
 
    if (start == false)
    {
        start = true;
        y_k = x_k;
    }
    else
    {
        y_k = alpha * x_k + (1.0 - alpha) * y_k_1;
    }
    y_k_1 = y_k;
    return y_k;
}
 
template <typename T>
void filter::low_pass::LPF_1<T>::reset()
{
    y_k_1 = 0.0;
    start = false;
}
 
template <typename T>
void filter::low_pass::LPF_1<T>::set_fc(T fc_)
{
    set_param(fc_, dt);
}
 
template <typename T>
void filter::low_pass::LPF_1<T>::set_tau(T tau_)
{
    tau = tau_;
    fc = 1.0 / (6.28318530717958647692528676655900576 * tau);
    alpha = dt / (dt + tau);
}
 
template <typename T>
void filter::low_pass::LPF_1<T>::set_dt(T dt_)
{
    set_param(fc, dt_);
}
 
template <typename T>
void filter::low_pass::LPF_1<T>::set_alpha(T alpha_)
{
    alpha = alpha_;
    tau = ((1.0 - alpha) * dt) / alpha;
    fc = 1.0 / (6.28318530717958647692528676655900576 * tau);
}
 
template <typename T>
T filter::low_pass::LPF_1<T>::get_fc()
{
    return fc;
}
 
template <typename T>
T filter::low_pass::LPF_1<T>::get_tau()
{
    return tau;
}
 
template <typename T>
T filter::low_pass::LPF_1<T>::get_dt()
{
    return dt;
}
 
template <typename T>
T filter::low_pass::LPF_1<T>::get_alpha()
{
    return alpha;
}
 
template <typename T>
T filter::low_pass::LPF_1<T>::get_fs()
{
   return 1.0 / dt;
}