Struct containing configuration and state of a SISO filter. More...

#include <filter.h>

Collaboration diagram for rc_filter_t:

Public Attributes
transfer function properties
int	order
	transfer function order

double	dt
	timestep in seconds

double	gain
	Additional gain multiplier, usually 1.0.

rc_vector_t	num
	numerator coefficients

rc_vector_t	den
	denominator coefficients

saturation settings
int	sat_en
	set to 1 by enable_saturation()

double	sat_min
	lower saturation limit

double	sat_max
	upper saturation limit

int	sat_flag
	1 if saturated on the last step

soft start settings
int	ss_en
	set to 1 by enbale_soft_start()

double	ss_steps
	steps before full output allowed

dynamically allocated ring buffers
rc_ringbuf_t	in_buf

rc_ringbuf_t	out_buf

other
double	newest_input
	shortcut for the most recent input

double	newest_output
	shortcut for the most recent output

uint64_t	step
	steps since last reset

int	initialized
	initialization flag

Detailed Description

Struct containing configuration and state of a SISO filter.

Also points to dynamically allocated memory which make it necessary to use the allocation and free function in this API for proper use. The user can read and modify values directly from ths struct.

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

/home/xssun/Workspace/botlab_ws/mbot_firmware/rc/include/rc/math/filter.h

Public Attributes

Detailed Description