kopia lustrzana https://github.com/vsamy/DiFipp
138 wiersze
6.1 KiB
C++
138 wiersze
6.1 KiB
C++
// 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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// 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
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// 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
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// (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 <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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// TODO: setCoeffs 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_type; }
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/*! \brief Get how far back is the filtered value.
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* The filtered value is computed at time \f$tc=t - center()*\Delta T\f$ where \f$t\f$ is the current time
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* \f$\Delta T\f$ is your sampling time.
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* \note For FilterType::Backward filter, the function returns 0.
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*/
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Eigen::Index center() const noexcept { return (m_type == FilterType::Backward ? 0 : ((m_bCoeff.size() - 1) / 2)); }
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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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/*! \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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void setCoeffs(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff);
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protected:
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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);
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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 type Type of the filter.
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*/
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BaseFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff, FilterType type = FilterType::Backward);
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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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FilterType m_type; /*!< Type of filter. Default is FilterType::Backward. */
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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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