MovingAverageFilter< T > Class Template Reference

Detailed Description

template<typename T>
class drake::manipulation::util::MovingAverageFilter< T >

The implementation of a Moving Average Filter.

This discrete time filter outputs the average of the last n samples i.e. y[k] = 1/n ∑ⱼ x[k-j] ∀ j = 0..n-1, when n<k and, = 1/k ∑ⱼ x[j] ∀ j = 0..k otherwise; where n is the window size and x being the discrete-time signal that is to be filtered, y is the filtered signal and k is the index of latest element in the signal time-series.

Note that this class is meant to serve as a standalone simple utility and a filter of this form in a more `drake::systems` flavour can be generated from a `systems::AffineSystem` since this is a LTI filter.

Template Parameters

T	The element type. Instantiated templates for the following kinds of T's are provided:

• double
• VectorX<double>

#include <drake/manipulation/util/moving_average_filter.h>

Public Member Functions
	MovingAverageFilter (int window_size)
	Constructs the filter with the specified window_size.
T	Update (const T &new_data)
	Updates the average filter result.
const std::queue< T > &	window () const
const T	moving_average () const
	Returns the most recent result of the averaging filter.
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	MovingAverageFilter (const MovingAverageFilter &)=default
MovingAverageFilter &	operator= (const MovingAverageFilter &)=default
	MovingAverageFilter (MovingAverageFilter &&)=default
MovingAverageFilter &	operator= (MovingAverageFilter &&)=default

Constructor & Destructor Documentation

MovingAverageFilter() [1/3]

template<typename T>

MovingAverageFilter ( const MovingAverageFilter< T > & )

default

MovingAverageFilter() [2/3]

template<typename T>

MovingAverageFilter ( MovingAverageFilter< T > && )

default

MovingAverageFilter() [3/3]

template<typename T>

MovingAverageFilter ( int window_size )

explicit

Constructs the filter with the specified window_size.

Parameters

window_size

The size of the window.

Exceptions

std::exception

when window_size <= 0.

Member Function Documentation

moving_average()

template<typename T>

const T moving_average

(

)

const

Returns the most recent result of the averaging filter.

operator=() [1/2]

template<typename T>

MovingAverageFilter & operator= ( const MovingAverageFilter< T > & )

default

operator=() [2/2]

template<typename T>

MovingAverageFilter & operator= ( MovingAverageFilter< T > && )

default

Update()

template<typename T>

T Update

(

const T &

new_data

)

Updates the average filter result.

Every call to this method modifies the internal state of this filter thus resulting in a computation of the moving average of the data present within the filter window.

Parameters

new_data

Returns

window()

template<typename T>

const std::queue< T > & window

(

)

const

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The documentation for this class was generated from the following file:

• drake/manipulation/util/moving_average_filter.h