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Change Base filter class.

topic/diffentiators
Vincent Samy 2019-10-29 13:27:48 +09:00
rodzic 3b927b8174
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132
include/BaseFilter.h 100644
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// Copyright (c) 2019, Vincent SAMY
// All rights reserved.
// Redistribution and use in source and binary forms, with or without
// 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
// 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
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// The views and conclusions contained in the software and documentation are those
// of the authors and should not be interpreted as representing official policies,
// either expressed or implied, of the FreeBSD Project.
#pragma once
#include "gsl/gsl_assert.h"
#include "type_checks.h"
#include "typedefs.h"
#include <stddef.h>
#include <string>
namespace difi {
// TODO: noexcept(Function of gsl variable)
// TODO: constructor with universal refs
/*! \brief Low-level filter.
*
* It creates the basic and common functions of all linear filter that can written as a digital filter.
* This class can not be instantiated directly.
*
* \warning In Debug mode, all functions may throw if a filter is badly initialized.
* This not the case in Realese mode.
*
* \tparam T Floating type.
*/
template <typename T, typename Derived>
class BaseFilter {
static_assert(std::is_floating_point<T>::value && !std::is_const<T>::value, "Only accept non-complex floating point types.");
friend Derived;
public:
/*! \brief Reset the data and filtered data. */
void resetFilter() noexcept { derived().resetFilter(); };
/*!< \brief Return the filter type */
FilterType type() const noexcept { return (m_center == 0 ? Type::Forward : Type::Centered); }
/*! \brief Get digital filter coefficients.
*
* It will automatically resize the given vectors.
* \param[out] aCoeff Denominator coefficients of the filter in decreasing order.
* \param[out] bCoeff Numerator coefficients of the filter in decreasing order.
*/
void getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& bCoeff) const noexcept;
/*! \brief Return coefficients of the denominator polynome. */
const vectX_t<T>& aCoeff() const noexcept { return m_aCoeff; }
/*! \brief Return coefficients of the numerator polynome. */
const vectX_t<T>& bCoeff() const noexcept { return m_bCoeff; }
/*! \brief Return the order the denominator polynome order of the filter. */
Eigen::Index aOrder() const noexcept { return m_aCoeff.size(); }
/*! \brief Return the order the numerator polynome order of the filter. */
Eigen::Index bOrder() const noexcept { return m_bCoeff.size(); }
/*! \brief Return the initialization state of the filter0 */
bool isInitialized() const noexcept { return m_isInitialized; }
protected:
/*! \brief Set type of filter (one-sided or centered)
*
* \param type The filter type.
* \warning bCoeff must be set before.
*/
void setType(FilterType type);
/*! \brief Set the new coefficients of the filters.
*
* It awaits a universal reference.
* \param aCoeff Denominator coefficients of the filter in decreasing order.
* \param bCoeff Numerator coefficients of the filter in decreasing order.
*/
template <typename T2>
void setCoeffs(T2&& aCoeff, T2&& bCoeff);
/*! \brief Normalized the filter coefficients such that aCoeff(0) = 1. */
void normalizeCoeffs();
/*! \brief Check for bad coefficients.
*
* Set the filter status to ready is everything is fine.
* \param aCoeff Denominator coefficients of the filter.
* \param bCoeff Numerator coefficients of the filter.
* \return True if the filter status is set on READY.
*/
bool checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type);
private:
/*! \brief Default uninitialized constructor. */
BaseFilter() = default;
/*! \brief Constructor.
* \param aCoeff Denominator coefficients of the filter in decreasing order.
* \param bCoeff Numerator coefficients of the filter in decreasing order.
* \param center
*/
BaseFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, FilterType type = FilterType::Forward);
/*! \brief Default destructor. */
virtual ~BaseFilter() = default;
Derived& derived() noexcept { return *static_cast<Derived*>(this); }
const Derived& derived() const noexcept { return *static_cast<const Derived*>(this); }
private:
Eigen::Index m_center = 0; /*!< Center of the filter. 0 is a one-sided filter. Default is 0. */
bool m_isInitialized = false; /*!< Initialization state of the filter. Default is false */
vectX_t<T> m_aCoeff; /*!< Denominator coefficients of the filter */
vectX_t<T> m_bCoeff; /*!< Numerator coefficients of the filter */
vectX_t<T> m_filteredData; /*!< Last set of filtered data */
vectX_t<T> m_rawData; /*!< Last set of non-filtered data */
};
} // namespace difi
#include "BaseFilter.tpp"

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include/BaseFilter.tpp 100644
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// Copyright (c) 2019, Vincent SAMY
// All rights reserved.
// Redistribution and use in source and binary forms, with or without
// 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
// 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
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// The views and conclusions contained in the software and documentation are those
// of the authors and should not be interpreted as representing official policies,
// either expressed or implied, of the FreeBSD Project.
#include <limits>
namespace difi {
// Public functions
template <typename T>
void BaseFilter<T>::setType(Type type)
{
Expects(type == Type::Centered ? m_bCoeff.size() > 2 && m_bCoeff.size() % 2 == 1 : true);
m_center = (type == Type::Forward ? 0 : (m_bCoeff.size() - 1) / 2);
}
template <typename T>
template <typename T2>
void BaseFilter<T>::setCoeffs(T2&& aCoeff, T2&& bCoeff)
{
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::Forward : Type::Centered)));
m_aCoeff = aCoeff;
m_bCoeff = bCoeff;
normalizeCoeffs();
resetFilter();
m_isInitialized = true;
}
template <typename T>
void BaseFilter<T>::getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& bCoeff) const noexcept
{
aCoeff = m_aCoeff;
bCoeff = m_bCoeff;
}
// Protected functions
template <typename T>
BaseFilter<T>::BaseFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, FilterType type)
: m_aCoeff(aCoeff)
, m_bCoeff(bCoeff)
, m_filteredData(aCoeff.size())
, m_rawData(bCoeff.size())
{
Expects(checkCoeffs(aCoeff, bCoeff, type));
m_center = (type == Type::Forward ? 0 : (bCoeff.size() - 1) / 2);
normalizeCoeffs();
resetFilter();
m_isInitialized = true;
}
template <typename T>
void BaseFilter<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 BaseFilter<T>::checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, FilterType 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;
}
} // namespace difi

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include/Butterworth.h
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@ -60,7 +60,7 @@ public:
/*! \brief Function to help you design a Butterworth filter. /*! \brief Function to help you design a Butterworth filter.
* *
* It finds optimal values of the order and cut-off frequency. * It finds optimal values of the order and cut-off frequency.
* \warning Works only for low-pass and high-pass filters. * \note Works only for low-pass and high-pass filters.
* \see http://www.matheonics.com/Tutorials/Butterworth.html#Paragraph_3.2 * \see http://www.matheonics.com/Tutorials/Butterworth.html#Paragraph_3.2
* \see https://www.mathworks.com/help/signal/ref/buttord.html#d120e11079 * \see https://www.mathworks.com/help/signal/ref/buttord.html#d120e11079
* \param wPass Pass band edge. * \param wPass Pass band edge.

1
include/DigitalFilter.h
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@ -50,6 +50,7 @@ public:
: GenericFilter<T>(aCoeff, bCoeff) : GenericFilter<T>(aCoeff, bCoeff)
{ {
} }
void setCoefficients(vectX_t<T>&& aCoeff, vectX_t<T>&& bCoeff) void setCoefficients(vectX_t<T>&& aCoeff, vectX_t<T>&& bCoeff)
{ {
setCoeffs(std::forward(aCoeff), std::forward(bCoeff)); setCoeffs(std::forward(aCoeff), std::forward(bCoeff));

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include/GenericFilter.h
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@ -27,37 +27,12 @@
#pragma once #pragma once
#include "gsl/gsl_assert.h" #include "BaseFilter.h"
#include "type_checks.h"
#include "typedefs.h"
#include <stddef.h>
#include <string>
namespace difi { namespace difi {
// TODO: noexcept(Function of gsl variable)
// TODO: constructor with universal refs
/*! \brief Low-level filter.
*
* It creates the basic and common functions of all linear filter that can written as a digital filter.
* This class can not be instantiated directly.
*
* \warning In Debug mode, all functions may throw if a filter is badly initialized.
* This not the case in Realese mode.
*
* \tparam T Floating type.
*/
template <typename T> template <typename T>
class GenericFilter { class GenericFilter : BaseFilter<T, GenericFilter<T>> {
static_assert(std::is_floating_point<T>::value && !std::is_const<T>::value, "Only accept non-complex floating point types.");
public:
enum class Type {
OneSided,
Centered
};
public: public:
/*! \brief Filter a new data. /*! \brief Filter a new data.
* *
@ -73,75 +48,48 @@ public:
* \return Filtered signal. * \return Filtered signal.
*/ */
vectX_t<T> filter(const vectX_t<T>& data); vectX_t<T> filter(const vectX_t<T>& data);
/*! \brief Reset the data and filtered data. */
void resetFilter() noexcept;
/*!< \brief Return the filter type */ void resetFilter() noexcept
Type type() const noexcept { return (m_center == 0 ? Type::OneSided : Type::Centered); }
/*! \brief Get digital filter coefficients.
*
* It will automatically resize the given vectors.
* \param[out] aCoeff Denominator coefficients of the filter in decreasing order.
* \param[out] bCoeff Numerator coefficients of the filter in decreasing order.
*/
void getCoeffs(vectX_t<T>& aCoeff, vectX_t<T>& bCoeff) const noexcept;
/*! \brief Return coefficients of the denominator polynome. */
const vectX_t<T>& aCoeff() const noexcept { return m_aCoeff; }
/*! \brief Return coefficients of the numerator polynome. */
const vectX_t<T>& bCoeff() const noexcept { return m_bCoeff; }
/*! \brief Return the order the denominator polynome order of the filter. */
Eigen::Index aOrder() const noexcept { return m_aCoeff.size(); }
/*! \brief Return the order the numerator polynome order of the filter. */
Eigen::Index bOrder() const noexcept { return m_bCoeff.size(); }
/*! \brief Return the initialization state of the filter0 */
bool isInitialized() const noexcept { return m_isInitialized; }
protected: protected:
/*! \brief Default uninitialized constructor. */
GenericFilter() = default; GenericFilter() = default;
/*! \brief Constructor. GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type = Type::Forward)
* \param aCoeff Denominator coefficients of the filter in decreasing order. : BaseFilter(aCoeff, bCoeff, type)
* \param bCoeff Numerator coefficients of the filter in decreasing order. {}
* \param center };
*/
GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type = Type::OneSided);
/*! \brief Default destructor. */
virtual ~GenericFilter() = default;
/*! \brief Set type of filter (one-sided or centered) template <typename T>
class TVGenericFilter : BaseFilter<T, GenericFilter<T>> {
public:
/*! \brief Filter a new data.
* *
* \param type The filter type. * This function is practical for online application that does not know the whole signal in advance.
* \warning bCoeff must be set before. * \param data New data to filter.
* \return Filtered data.
*/ */
void setType(Type type); T stepFilter(const T& data, const T& time);
/*! \brief Set the new coefficients of the filters. /*! \brief Filter a signal.
*
* It awaits a universal reference.
* \param aCoeff Denominator coefficients of the filter in decreasing order.
* \param bCoeff Numerator coefficients of the filter in decreasing order.
*/
template <typename T2>
void setCoeffs(T2&& aCoeff, T2&& bCoeff);
/*! \brief Normalized the filter coefficients such that aCoeff(0) = 1. */
void normalizeCoeffs();
/*! \brief Check for bad coefficients.
* *
* Set the filter status to ready is everything is fine. * Filter all data given by the signal.
* \param aCoeff Denominator coefficients of the filter. * \param data Signal.
* \param bCoeff Numerator coefficients of the filter. * \return Filtered signal.
* \return True if the filter status is set on READY.
*/ */
bool checkCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type); vectX_t<T> filter(const vectX_t<T>& data, const vectX_t<T>& time);
protected:
GenericFilter() = default;
GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, Type type = Type::Forward)
: BaseFilter(aCoeff, bCoeff, type)
{
m_timers.resize(m_bCoeffs.size());
m_timeDiffs.resize(m_bCoeffs.size());
}
private: private:
Eigen::Index m_center = 0; /*!< Center of the filter. 0 is a one-sided filter. Default is 0. */ vectX_t<T> m_timers;
bool m_isInitialized = false; /*!< Initialization state of the filter. Default is false */ vectX_t<T> m_timeDiffs;
vectX_t<T> m_aCoeff; /*!< Denominator coefficients of the filter */
vectX_t<T> m_bCoeff; /*!< Numerator coefficients of the filter */
vectX_t<T> m_filteredData; /*!< Last set of filtered data */
vectX_t<T> m_rawData; /*!< Last set of non-filtered data */
}; };
} // namespace difi } // namespace difi
#include "GenericFilter.tpp" #include "GenericFilter.tpp"

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include/GenericFilter.tpp
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@ -25,12 +25,8 @@
// of the authors and should not be interpreted as representing official policies, // of the authors and should not be interpreted as representing official policies,
// either expressed or implied, of the FreeBSD Project. // either expressed or implied, of the FreeBSD Project.
#include <limits>
namespace difi { namespace difi {
// Public functions
template <typename T> template <typename T>
T GenericFilter<T>::stepFilter(const T& data) T GenericFilter<T>::stepFilter(const T& data)
{ {
@ -42,10 +38,10 @@ T GenericFilter<T>::stepFilter(const T& data)
for (Eigen::Index i = m_filteredData.size() - 1; i > 0; --i) for (Eigen::Index i = m_filteredData.size() - 1; i > 0; --i)
m_filteredData(i) = m_filteredData(i - 1); m_filteredData(i) = m_filteredData(i - 1);
m_rawData[0] = data; m_rawData(0) = data;
m_filteredData[0] = 0; m_filteredData(0) = 0;
m_filteredData[m_center] = m_bCoeff.dot(m_rawData) - m_aCoeff.dot(m_filteredData); m_filteredData(m_center) = m_bCoeff.dot(m_rawData) - m_aCoeff.dot(m_filteredData);
return m_filteredData[m_center]; return m_filteredData(m_center);
} }
template <typename T> template <typename T>
@ -66,65 +62,54 @@ void GenericFilter<T>::resetFilter() noexcept
} }
template <typename T> 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); Expects(m_isInitialized);
m_center = (type == Type::OneSided ? 0 : (m_bCoeff.size() - 1) / 2);
// 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 T>
template <typename T2> vectX_t<T> TVGenericFilter<T>::filter(const vectX_t<T>& data, const vectX_t<T>& time)
void GenericFilter<T>::setCoeffs(T2&& aCoeff, T2&& bCoeff)
{ {
static_assert(std::is_convertible_v<T2, vectX_t<T>>, "The coefficients types should be convertible to vectX_t<T>"); Expects(m_isInitialized);
Expects(data.size() == time.size());
Expects(checkCoeffs(aCoeff, bCoeff, (m_center == 0 ? Type::OneSided : Type::Centered))); vectX_t<T> results(data.size());
m_aCoeff = aCoeff; for (Eigen::Index i = 0; i < data.size(); ++i)
m_bCoeff = bCoeff; results(i) = stepFilter(data(i), time(i));
normalizeCoeffs(); return results;
resetFilter();
m_isInitialized = true;
} }
template <typename T> 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; m_filteredData.setZero(m_aCoeff.size());
bCoeff = m_bCoeff; m_rawData.setZero(m_bCoeff.size());
} m_timers.setZero(m_bCoeff.size());
m_timerDiffs.setZero(m_bCoeff.size());
// 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;
} }
} // namespace difi } // namespace difi

2
include/differentiators.h
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@ -226,7 +226,7 @@ public:
T timestep() const noexcept { return std::pow(bCoeff()(0) / CoeffGetter<T, N>()(0), T(1) / Order); } 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> { class CentralDifferentiator : public GenericFilter<T> {
public: public:
CentralDifferentiator() CentralDifferentiator()

5
include/typedefs.h
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@ -43,4 +43,9 @@ using vectN_t = Eigen::Matrix<T, N, 1>; /*!< Fixed Eigen column-vector */
template <typename T> template <typename T>
using vectXc_t = vectX_t<std::complex<T>>; /*!< Eigen complex column-vector */ using vectXc_t = vectX_t<std::complex<T>>; /*!< Eigen complex column-vector */
enum class FilterType {
Forward,
Centered
};
} // namespace difi } // namespace difi