DiscreteFilter.hpp

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#ifndef DISCRETEFILTER_HPP_
#define DISCRETEFILTER_HPP_

#include "base/Eigen.hpp"

namespace numeric {

class DiscreteFilter {

public:
        DiscreteFilter(double sampleTime, int numberElements = 1);

        bool calcOutput(double &filteredSignal, double &inputSignal);

        bool calcOutput(base::VectorXd &filteredSignal, base::VectorXd &inputSignal);

        bool setPoles(double pole1, double pole2 = 1);

        bool getPoles(double &pole1, double &pole2);

        bool getSamplingTime(double &sampleTime);

        bool getNumberElements(int &numberElements);

        bool resetFilter();

private:

        double gMappedPole1;

        double gMappedPole2;

        double gContinuousPole1;

        double gContinuousPole2;

        double gSamplingTime;

        int gNumFilterElements;

        bool gErrorStatus;

        base::MatrixXd gPastValues;

        bool gFilterNotSet;

        void calcFiltering(base::VectorXd &filteredSignal,
                                           base::VectorXd &newSignalValue,
                                           base::MatrixXd &pastSignalValues);

        void calcFiltering(double &filteredSignal, double &newSignalValue,
                                           base::MatrixXd &pastSignalValues);

        void updateMatrix(base::MatrixXd &matrix, double &newValue);

        void updateMatrix(base::MatrixXd &matrix, base::VectorXd &newValues);

        void printWarn();

        void printError(int inputElements);
};

} /* namespace numeric */

#endif /* DISCRETEFILTER_HPP_ */