apollo::common::DigitalFilter类 参考

The DigitalFilter class is used to pass signals with a frequency lower than a certain cutoff frequency and attenuates signals with frequencies higher than the cutoff frequency. 更多...

#include <digital_filter.h>

apollo::common::DigitalFilter 的协作图:

Public 成员函数
	DigitalFilter ()=default
	DigitalFilter (const std::vector< double > &denominators, const std::vector< double > &numerators)
	Initializes a DigitalFilter with given denominators and numerators.
	~DigitalFilter ()=default
	Default destructor.
double	Filter (const double x_insert)
	Processes a new measurement with the filter.
void	set_denominators (const std::vector< double > &denominators)
	@desc: Filter by the input x_insert Input: new value of x_insert Remove x[n - 1], insert x_insert into x[0] Remove y[n - 1], Solve den[0] * y + den[1] * y[0] + ... + den[n - 1]*y[n - 2] = num[0] * x[0] + num[1] * x[1] + ... + num[n - 1] * x[n - 1] for y Insert y into y[0] Output: y[0]
void	set_numerators (const std::vector< double > &numerators)
	set numerators by an input vector
void	set_coefficients (const std::vector< double > &denominators, const std::vector< double > &numerators)
	set denominators and numerators
void	set_dead_zone (const double deadzone)
	set filter deadzone
void	reset_values ()
	re-set the x_values_ and y_values_
const std::vector< double > &	denominators () const
	get denominators
const std::vector< double > &	numerators () const
	get numerators
double	dead_zone () const
	get dead_zone
const std::deque< double > &	inputs_queue () const
	get inputs of the filter
const std::deque< double > &	outputs_queue () const
	get outputs of the filter

详细描述

The DigitalFilter class is used to pass signals with a frequency lower than a certain cutoff frequency and attenuates signals with frequencies higher than the cutoff frequency.

在文件 digital_filter.h 第 40 行定义.

构造及析构函数说明

DigitalFilter() [1/2]

apollo::common::DigitalFilter::DigitalFilter ( )

default

DigitalFilter() [2/2]

apollo::common::DigitalFilter::DigitalFilter	(	const std::vector< double > &	denominators,
		const std::vector< double > &	numerators
	)

Initializes a DigitalFilter with given denominators and numerators.

参数

denominators	The denominators of the DigitalFilter.
numerators	The numerators of the DigitalFilter.

在文件 digital_filter.cc 第 32 行定义.

                                                                  {
  set_coefficients(denominators, numerators);
}

~DigitalFilter()

apollo::common::DigitalFilter::~DigitalFilter ( )

default

Default destructor.

成员函数说明

dead_zone()

double apollo::common::DigitalFilter::dead_zone

(

)

const

get dead_zone

返回

double The dead_zone

在文件 digital_filter.cc 第 120 行定义.

{ return dead_zone_; }

denominators()

const std::vector< double > & apollo::common::DigitalFilter::denominators

(

)

const

get denominators

返回

vector<double> The denominators of filter

在文件 digital_filter.cc 第 112 行定义.

                                                           {
  return denominators_;
}

Filter()

double apollo::common::DigitalFilter::Filter

(

const double

x_insert

)

Processes a new measurement with the filter.

参数

x_insert

The new input to be processed by the filter.

在文件 digital_filter.cc 第 58 行定义.

                                                  {
  if (denominators_.empty() || numerators_.empty()) {
    AERROR << "Empty denominators or numerators";
    return 0.0;
  }
 
  x_values_.pop_back();
  x_values_.push_front(x_insert);
  const double xside =
      Compute(x_values_, numerators_, 0, numerators_.size() - 1);
 
  y_values_.pop_back();
  const double yside =
      Compute(y_values_, denominators_, 1, denominators_.size() - 1);
 
  double y_insert = 0.0;
  if (std::fabs(denominators_.front()) > kDoubleEpsilon) {
    y_insert = (xside - yside) / denominators_.front();
  }
  y_values_.push_front(y_insert);
 
  return UpdateLast(y_insert);
}

inputs_queue()

const std::deque< double > & apollo::common::DigitalFilter::inputs_queue

(

)

const

get inputs of the filter

返回

deque<double> The queue of inputs of filter

在文件 digital_filter.cc 第 122 行定义.

                                                          {
  return x_values_;
}

numerators()

const std::vector< double > & apollo::common::DigitalFilter::numerators

(

)

const

get numerators

返回

vector<double> The numerators of filter

在文件 digital_filter.cc 第 116 行定义.

                                                         {
  return numerators_;
}

outputs_queue()

const std::deque< double > & apollo::common::DigitalFilter::outputs_queue

(

)

const

get outputs of the filter

返回

deque<double> The queue of outputs of filter

在文件 digital_filter.cc 第 126 行定义.

                                                           {
  return y_values_;
}

reset_values()

void apollo::common::DigitalFilter::reset_values

(

)

re-set the x_values_ and y_values_

参数

deadzone

The value of deadzone

在文件 digital_filter.cc 第 82 行定义.

                                 {
  std::fill(x_values_.begin(), x_values_.end(), 0.0);
  std::fill(y_values_.begin(), y_values_.end(), 0.0);
}

set_coefficients()

void apollo::common::DigitalFilter::set_coefficients	(	const std::vector< double > &	denominators,
		const std::vector< double > &	numerators
	)

set denominators and numerators

参数

denominators	The denominators of filter
numerators	The numerators of filter

在文件 digital_filter.cc 第 47 行定义.

                                                                          {
  set_denominators(denominators);
  set_numerators(numerators);
}

set_dead_zone()

void apollo::common::DigitalFilter::set_dead_zone

(

const double

deadzone

)

set filter deadzone

参数

deadzone

The value of deadzone

在文件 digital_filter.cc 第 53 行定义.

                                                       {
  dead_zone_ = std::fabs(deadzone);
  AINFO << "Setting digital filter dead zone = " << dead_zone_;
}

set_denominators()

void apollo::common::DigitalFilter::set_denominators

(

const std::vector< double > &

denominators

)

@desc: Filter by the input x_insert Input: new value of x_insert Remove x[n - 1], insert x_insert into x[0] Remove y[n - 1], Solve den[0] * y + den[1] * y[0] + ... + den[n - 1]*y[n - 2] = num[0] * x[0] + num[1] * x[1] + ... + num[n - 1] * x[n - 1] for y Insert y into y[0] Output: y[0]

set denominators by an input vector

参数

denominators

The denominators of filter

在文件 digital_filter.cc 第 37 行定义.

                                                                          {
  denominators_ = denominators;
  y_values_.resize(denominators_.size(), 0.0);
}

set_numerators()

void apollo::common::DigitalFilter::set_numerators

(

const std::vector< double > &

numerators

)

set numerators by an input vector

参数

numerators

The numerators of filter

在文件 digital_filter.cc 第 42 行定义.

                                                                      {
  numerators_ = numerators;
  x_values_.resize(numerators_.size(), 0.0);
}

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该类的文档由以下文件生成:

• modules/common/filters/digital_filter.h
• modules/common/filters/digital_filter.cc