kopia lustrzana https://github.com/vsamy/DiFipp
Change Base filter class.
Vincent Samy
rodzic
3b927b8174
commit
09a697bb5c
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@ -0,0 +1,132 @@
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// Copyright (c) 2019, Vincent SAMY
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// All rights reserved.
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// 1. Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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||||
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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||||
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// The views and conclusions contained in the software and documentation are those
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// of the authors and should not be interpreted as representing official policies,
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// either expressed or implied, of the FreeBSD Project.
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#pragma once
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#include "gsl/gsl_assert.h"
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#include "type_checks.h"
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#include "typedefs.h"
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#include <stddef.h>
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#include <string>
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namespace difi {
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// TODO: noexcept(Function of gsl variable)
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// TODO: constructor with universal refs
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/*! \brief Low-level filter.
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*
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* It creates the basic and common functions of all linear filter that can written as a digital filter.
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* This class can not be instantiated directly.
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*
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* \warning In Debug mode, all functions may throw if a filter is badly initialized.
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* This not the case in Realese mode.
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*
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* \tparam T Floating type.
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*/
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template <typename T, typename Derived>
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class BaseFilter {
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static_assert(std::is_floating_point<T>::value && !std::is_const<T>::value, "Only accept non-complex floating point types.");
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friend Derived;
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public:
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/*! \brief Reset the data and filtered data. */
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void resetFilter() noexcept { derived().resetFilter(); };
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/*!< \brief Return the filter type */
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FilterType type() const noexcept { return (m_center == 0 ? Type::Forward : Type::Centered); }
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/*! \brief Get digital filter coefficients.
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*
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* It will automatically resize the given vectors.
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* \param[out] aCoeff Denominator coefficients of the filter in decreasing order.
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* \param[out] bCoeff Numerator coefficients of the filter in decreasing order.
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*/
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void getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& bCoeff) const noexcept;
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/*! \brief Return coefficients of the denominator polynome. */
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const vectX_t<T>& aCoeff() const noexcept { return m_aCoeff; }
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/*! \brief Return coefficients of the numerator polynome. */
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const vectX_t<T>& bCoeff() const noexcept { return m_bCoeff; }
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/*! \brief Return the order the denominator polynome order of the filter. */
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Eigen::Index aOrder() const noexcept { return m_aCoeff.size(); }
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/*! \brief Return the order the numerator polynome order of the filter. */
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Eigen::Index bOrder() const noexcept { return m_bCoeff.size(); }
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/*! \brief Return the initialization state of the filter0 */
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bool isInitialized() const noexcept { return m_isInitialized; }
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protected:
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/*! \brief Set type of filter (one-sided or centered)
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*
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* \param type The filter type.
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* \warning bCoeff must be set before.
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*/
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void setType(FilterType type);
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/*! \brief Set the new coefficients of the filters.
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*
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* It awaits a universal reference.
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* \param aCoeff Denominator coefficients of the filter in decreasing order.
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* \param bCoeff Numerator coefficients of the filter in decreasing order.
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*/
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template <typename T2>
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void setCoeffs(T2&& aCoeff, T2&& bCoeff);
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/*! \brief Normalized the filter coefficients such that aCoeff(0) = 1. */
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void normalizeCoeffs();
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/*! \brief Check for bad coefficients.
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*
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* Set the filter status to ready is everything is fine.
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* \param aCoeff Denominator coefficients of the filter.
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* \param bCoeff Numerator coefficients of the filter.
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* \return True if the filter status is set on READY.
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*/
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bool checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type);
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private:
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/*! \brief Default uninitialized constructor. */
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BaseFilter() = default;
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/*! \brief Constructor.
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* \param aCoeff Denominator coefficients of the filter in decreasing order.
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* \param bCoeff Numerator coefficients of the filter in decreasing order.
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* \param center
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*/
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BaseFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, FilterType type = FilterType::Forward);
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/*! \brief Default destructor. */
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virtual ~BaseFilter() = default;
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Derived& derived() noexcept { return *static_cast<Derived*>(this); }
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const Derived& derived() const noexcept { return *static_cast<const Derived*>(this); }
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private:
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Eigen::Index m_center = 0; /*!< Center of the filter. 0 is a one-sided filter. Default is 0. */
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bool m_isInitialized = false; /*!< Initialization state of the filter. Default is false */
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vectX_t<T> m_aCoeff; /*!< Denominator coefficients of the filter */
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vectX_t<T> m_bCoeff; /*!< Numerator coefficients of the filter */
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vectX_t<T> m_filteredData; /*!< Last set of filtered data */
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vectX_t<T> m_rawData; /*!< Last set of non-filtered data */
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};
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} // namespace difi
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#include "BaseFilter.tpp"
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@ -0,0 +1,96 @@
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// Copyright (c) 2019, Vincent SAMY
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// All rights reserved.
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
|
||||
|
||||
// 1. Redistributions of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
// 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
||||
|
||||
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
|
||||
// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
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|
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// The views and conclusions contained in the software and documentation are those
|
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// of the authors and should not be interpreted as representing official policies,
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// either expressed or implied, of the FreeBSD Project.
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#include <limits>
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namespace difi {
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// Public functions
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template <typename T>
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void BaseFilter<T>::setType(Type type)
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{
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Expects(type == Type::Centered ? m_bCoeff.size() > 2 && m_bCoeff.size() % 2 == 1 : true);
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m_center = (type == Type::Forward ? 0 : (m_bCoeff.size() - 1) / 2);
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}
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template <typename T>
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template <typename T2>
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void BaseFilter<T>::setCoeffs(T2&& aCoeff, T2&& bCoeff)
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{
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static_assert(std::is_convertible_v<T2, vectX_t<T>>, "The coefficients types should be convertible to vectX_t<T>");
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Expects(checkCoeffs(aCoeff, bCoeff, (m_center == 0 ? Type::Forward : Type::Centered)));
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m_aCoeff = aCoeff;
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m_bCoeff = bCoeff;
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normalizeCoeffs();
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resetFilter();
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m_isInitialized = true;
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}
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template <typename T>
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void BaseFilter<T>::getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& bCoeff) const noexcept
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{
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aCoeff = m_aCoeff;
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bCoeff = m_bCoeff;
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}
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// Protected functions
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template <typename T>
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BaseFilter<T>::BaseFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, FilterType type)
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: m_aCoeff(aCoeff)
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, m_bCoeff(bCoeff)
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, m_filteredData(aCoeff.size())
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, m_rawData(bCoeff.size())
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{
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Expects(checkCoeffs(aCoeff, bCoeff, type));
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m_center = (type == Type::Forward ? 0 : (bCoeff.size() - 1) / 2);
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normalizeCoeffs();
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resetFilter();
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m_isInitialized = true;
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}
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template <typename T>
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void BaseFilter<T>::normalizeCoeffs()
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{
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T a0 = m_aCoeff(0);
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if (std::abs(a0 - T(1)) < std::numeric_limits<T>::epsilon())
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return;
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m_aCoeff /= a0;
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m_bCoeff /= a0;
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}
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template <typename T>
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bool BaseFilter<T>::checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, FilterType type)
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{
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bool centering = (type == Type::Centered ? (bCoeff.size() % 2 == 1) : true);
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return aCoeff.size() > 0 && std::abs(aCoeff[0]) > std::numeric_limits<T>::epsilon() && bCoeff.size() > 0 && centering;
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}
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} // namespace difi
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@ -60,7 +60,7 @@ public:
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/*! \brief Function to help you design a Butterworth filter.
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*
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* It finds optimal values of the order and cut-off frequency.
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* \warning Works only for low-pass and high-pass filters.
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* \note Works only for low-pass and high-pass filters.
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* \see http://www.matheonics.com/Tutorials/Butterworth.html#Paragraph_3.2
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* \see https://www.mathworks.com/help/signal/ref/buttord.html#d120e11079
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* \param wPass Pass band edge.
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@ -50,6 +50,7 @@ public:
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: GenericFilter<T>(aCoeff, bCoeff)
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{
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}
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void setCoefficients(vectX_t<T>&& aCoeff, vectX_t<T>&& bCoeff)
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{
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setCoeffs(std::forward(aCoeff), std::forward(bCoeff));
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@ -27,37 +27,12 @@
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#pragma once
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#include "gsl/gsl_assert.h"
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#include "type_checks.h"
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#include "typedefs.h"
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#include <stddef.h>
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#include <string>
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#include "BaseFilter.h"
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namespace difi {
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// TODO: noexcept(Function of gsl variable)
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// TODO: constructor with universal refs
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/*! \brief Low-level filter.
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*
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* It creates the basic and common functions of all linear filter that can written as a digital filter.
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* This class can not be instantiated directly.
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*
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* \warning In Debug mode, all functions may throw if a filter is badly initialized.
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* This not the case in Realese mode.
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*
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* \tparam T Floating type.
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*/
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template <typename T>
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class GenericFilter {
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static_assert(std::is_floating_point<T>::value && !std::is_const<T>::value, "Only accept non-complex floating point types.");
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public:
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enum class Type {
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OneSided,
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Centered
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};
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class GenericFilter : BaseFilter<T, GenericFilter<T>> {
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public:
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/*! \brief Filter a new data.
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*
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@ -73,75 +48,48 @@ public:
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* \return Filtered signal.
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*/
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vectX_t<T> filter(const vectX_t<T>& data);
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/*! \brief Reset the data and filtered data. */
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void resetFilter() noexcept;
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/*!< \brief Return the filter type */
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Type type() const noexcept { return (m_center == 0 ? Type::OneSided : Type::Centered); }
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/*! \brief Get digital filter coefficients.
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*
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* It will automatically resize the given vectors.
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* \param[out] aCoeff Denominator coefficients of the filter in decreasing order.
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* \param[out] bCoeff Numerator coefficients of the filter in decreasing order.
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*/
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void getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& bCoeff) const noexcept;
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/*! \brief Return coefficients of the denominator polynome. */
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const vectX_t<T>& aCoeff() const noexcept { return m_aCoeff; }
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/*! \brief Return coefficients of the numerator polynome. */
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const vectX_t<T>& bCoeff() const noexcept { return m_bCoeff; }
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/*! \brief Return the order the denominator polynome order of the filter. */
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Eigen::Index aOrder() const noexcept { return m_aCoeff.size(); }
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/*! \brief Return the order the numerator polynome order of the filter. */
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Eigen::Index bOrder() const noexcept { return m_bCoeff.size(); }
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/*! \brief Return the initialization state of the filter0 */
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bool isInitialized() const noexcept { return m_isInitialized; }
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void resetFilter() noexcept
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protected:
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/*! \brief Default uninitialized constructor. */
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GenericFilter() = default;
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/*! \brief Constructor.
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* \param aCoeff Denominator coefficients of the filter in decreasing order.
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* \param bCoeff Numerator coefficients of the filter in decreasing order.
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* \param center
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*/
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GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type = Type::OneSided);
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/*! \brief Default destructor. */
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virtual ~GenericFilter() = default;
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GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type = Type::Forward)
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: BaseFilter(aCoeff, bCoeff, type)
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{}
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};
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/*! \brief Set type of filter (one-sided or centered)
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template <typename T>
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class TVGenericFilter : BaseFilter<T, GenericFilter<T>> {
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public:
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/*! \brief Filter a new data.
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*
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* \param type The filter type.
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* \warning bCoeff must be set before.
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* This function is practical for online application that does not know the whole signal in advance.
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* \param data New data to filter.
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* \return Filtered data.
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*/
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void setType(Type type);
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/*! \brief Set the new coefficients of the filters.
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*
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* It awaits a universal reference.
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* \param aCoeff Denominator coefficients of the filter in decreasing order.
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* \param bCoeff Numerator coefficients of the filter in decreasing order.
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*/
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template <typename T2>
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void setCoeffs(T2&& aCoeff, T2&& bCoeff);
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/*! \brief Normalized the filter coefficients such that aCoeff(0) = 1. */
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void normalizeCoeffs();
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/*! \brief Check for bad coefficients.
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T stepFilter(const T& data, const T& time);
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/*! \brief Filter a signal.
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*
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* Set the filter status to ready is everything is fine.
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* \param aCoeff Denominator coefficients of the filter.
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* \param bCoeff Numerator coefficients of the filter.
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* \return True if the filter status is set on READY.
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* Filter all data given by the signal.
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* \param data Signal.
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* \return Filtered signal.
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*/
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bool checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type);
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vectX_t<T> filter(const vectX_t<T>& data, const vectX_t<T>& time);
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protected:
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GenericFilter() = default;
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GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type = Type::Forward)
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: BaseFilter(aCoeff, bCoeff, type)
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{
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m_timers.resize(m_bCoeffs.size());
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m_timeDiffs.resize(m_bCoeffs.size());
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}
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private:
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Eigen::Index m_center = 0; /*!< Center of the filter. 0 is a one-sided filter. Default is 0. */
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bool m_isInitialized = false; /*!< Initialization state of the filter. Default is false */
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vectX_t<T> m_aCoeff; /*!< Denominator coefficients of the filter */
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vectX_t<T> m_bCoeff; /*!< Numerator coefficients of the filter */
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vectX_t<T> m_filteredData; /*!< Last set of filtered data */
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vectX_t<T> m_rawData; /*!< Last set of non-filtered data */
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vectX_t<T> m_timers;
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vectX_t<T> m_timeDiffs;
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};
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} // namespace difi
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#include "GenericFilter.tpp"
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#include "GenericFilter.tpp"
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@ -25,12 +25,8 @@
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// of the authors and should not be interpreted as representing official policies,
|
||||
// either expressed or implied, of the FreeBSD Project.
|
||||
|
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#include <limits>
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namespace difi {
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// Public functions
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template <typename T>
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T GenericFilter<T>::stepFilter(const T& data)
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{
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@ -42,10 +38,10 @@ T GenericFilter<T>::stepFilter(const T& data)
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for (Eigen::Index i = m_filteredData.size() - 1; i > 0; --i)
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m_filteredData(i) = m_filteredData(i - 1);
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m_rawData[0] = data;
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m_filteredData[0] = 0;
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m_filteredData[m_center] = m_bCoeff.dot(m_rawData) - m_aCoeff.dot(m_filteredData);
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return m_filteredData[m_center];
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m_rawData(0) = data;
|
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m_filteredData(0) = 0;
|
||||
m_filteredData(m_center) = m_bCoeff.dot(m_rawData) - m_aCoeff.dot(m_filteredData);
|
||||
return m_filteredData(m_center);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
|
|
@ -66,65 +62,54 @@ void GenericFilter<T>::resetFilter() noexcept
|
|||
}
|
||||
|
||||
template <typename T>
|
||||
void GenericFilter<T>::setType(Type type)
|
||||
T TVGenericFilter<T>::stepFilter(const T& data, const T& time)
|
||||
{
|
||||
Expects(type == Type::Centered ? m_bCoeff.size() > 2 && m_bCoeff.size() % 2 == 1 : true);
|
||||
m_center = (type == Type::OneSided ? 0 : (m_bCoeff.size() - 1) / 2);
|
||||
Expects(m_isInitialized);
|
||||
|
||||
// Slide data (can't use SIMD, but should be small)
|
||||
for (Eigen::Index i = m_rawData.size() - 1; i > 0; --i) {
|
||||
m_rawData(i) = m_rawData(i - 1);
|
||||
m_timers(i) = m_timers(i - 1);
|
||||
}
|
||||
for (Eigen::Index i = m_filteredData.size() - 1; i > 0; --i)
|
||||
m_filteredData(i) = m_filteredData(i - 1);
|
||||
|
||||
m_timers(0) = time;
|
||||
if (m_center == 0) {
|
||||
for (Eigen::Index i = m_rawData.size() - 1; i > 0; --i)
|
||||
m_timeDiffs(i) = m_timeDiffs(i - 1);
|
||||
m_timeDiffs(0) = time - m_timers(1);
|
||||
} else {
|
||||
const Eigen::Index S = data.size() - 1;
|
||||
const Eigen::Index M = S / 2;
|
||||
m_timeDiffs(M) = T(1);
|
||||
for (Eigen::Index i = 0; i < M; ++i)
|
||||
m_timeDiffs(i) = m_timers(i) - m_timers(S - i);
|
||||
}
|
||||
m_rawData(0) = data;
|
||||
m_filteredData(0) = 0;
|
||||
m_filteredData(m_center) = (m_bCoeff.cwiseQuotient(m_timeDiffs)).dot(m_rawData) - m_aCoeff.dot(m_filteredData);
|
||||
return m_filteredData(m_center);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
template <typename T2>
|
||||
void GenericFilter<T>::setCoeffs(T2&& aCoeff, T2&& bCoeff)
|
||||
vectX_t<T> TVGenericFilter<T>::filter(const vectX_t<T>& data, const vectX_t<T>& time)
|
||||
{
|
||||
static_assert(std::is_convertible_v<T2, vectX_t<T>>, "The coefficients types should be convertible to vectX_t<T>");
|
||||
|
||||
Expects(checkCoeffs(aCoeff, bCoeff, (m_center == 0 ? Type::OneSided : Type::Centered)));
|
||||
m_aCoeff = aCoeff;
|
||||
m_bCoeff = bCoeff;
|
||||
normalizeCoeffs();
|
||||
resetFilter();
|
||||
m_isInitialized = true;
|
||||
Expects(m_isInitialized);
|
||||
Expects(data.size() == time.size());
|
||||
vectX_t<T> results(data.size());
|
||||
for (Eigen::Index i = 0; i < data.size(); ++i)
|
||||
results(i) = stepFilter(data(i), time(i));
|
||||
return results;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void GenericFilter<T>::getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& bCoeff) const noexcept
|
||||
void GenericFilter<T>::resetFilter() noexcept
|
||||
{
|
||||
aCoeff = m_aCoeff;
|
||||
bCoeff = m_bCoeff;
|
||||
}
|
||||
|
||||
// Protected functions
|
||||
|
||||
template <typename T>
|
||||
GenericFilter<T>::GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type)
|
||||
: m_aCoeff(aCoeff)
|
||||
, m_bCoeff(bCoeff)
|
||||
, m_filteredData(aCoeff.size())
|
||||
, m_rawData(bCoeff.size())
|
||||
{
|
||||
Expects(checkCoeffs(aCoeff, bCoeff, type));
|
||||
m_center = (type == Type::OneSided ? 0 : (bCoeff.size() - 1) / 2);
|
||||
normalizeCoeffs();
|
||||
resetFilter();
|
||||
m_isInitialized = true;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void GenericFilter<T>::normalizeCoeffs()
|
||||
{
|
||||
T a0 = m_aCoeff(0);
|
||||
if (std::abs(a0 - T(1)) < std::numeric_limits<T>::epsilon())
|
||||
return;
|
||||
|
||||
m_aCoeff /= a0;
|
||||
m_bCoeff /= a0;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool GenericFilter<T>::checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type)
|
||||
{
|
||||
bool centering = (type == Type::Centered ? (bCoeff.size() % 2 == 1) : true);
|
||||
return aCoeff.size() > 0 && std::abs(aCoeff[0]) > std::numeric_limits<T>::epsilon() && bCoeff.size() > 0 && centering;
|
||||
m_filteredData.setZero(m_aCoeff.size());
|
||||
m_rawData.setZero(m_bCoeff.size());
|
||||
m_timers.setZero(m_bCoeff.size());
|
||||
m_timerDiffs.setZero(m_bCoeff.size());
|
||||
}
|
||||
|
||||
} // namespace difi
|
||||
|
|
@ -226,7 +226,7 @@ public:
|
|||
T timestep() const noexcept { return std::pow(bCoeff()(0) / CoeffGetter<T, N>()(0), T(1) / Order); }
|
||||
};
|
||||
|
||||
template <typename T, size_t N, template<class, class> typename CoeffGetter>
|
||||
template <typename T, size_t N, int Order, template<class, class> typename CoeffGetter>
|
||||
class CentralDifferentiator : public GenericFilter<T> {
|
||||
public:
|
||||
CentralDifferentiator()
|
||||
|
|
|
|||
|
|
@ -43,4 +43,9 @@ using vectN_t = Eigen::Matrix<T, N, 1>; /*!< Fixed Eigen column-vector */
|
|||
template <typename T>
|
||||
using vectXc_t = vectX_t<std::complex<T>>; /*!< Eigen complex column-vector */
|
||||
|
||||
enum class FilterType {
|
||||
Forward,
|
||||
Centered
|
||||
};
|
||||
|
||||
} // namespace difi
|
||||
Ładowanie…
Reference in New Issue