kopia lustrzana https://github.com/vsamy/DiFipp
113 wiersze
4.1 KiB
C++
113 wiersze
4.1 KiB
C++
#pragma once
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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 fratio {
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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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/*! \brief Get the meaning of the filter status.
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* \param status Filter status to get the meaning from.
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* \return The meaning.
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*/
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static std::string filterStatus(FilterStatus status);
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public:
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/*! \brief Filter a new data.
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*
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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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T stepFilter(const T& data);
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/*! \brief Filter a signal.
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*
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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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vectX_t<T> filter(const vectX_t<T>& data);
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/*! \brief Filter a signal and store in a user-defined Eigen vector.
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*
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* Useful if the length of the signal is known in advance.
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* \param[out] results Filtered signal.
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* \param data Signal.
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* \return False if vector's lengths do not match.
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*/
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bool getFilterResults(Eigen::Ref<vectX_t<T>> results, const vectX_t<T>& data);
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/*! \brief Reset the data and filtered data. */
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void resetFilter();
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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;
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/*! \brief Return the current filter status. */
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FilterStatus status() const noexcept { return m_status; }
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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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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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*/
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GenericFilter(const vectX_t<T>& aCoeff, const vectX_t<T>& bCoeff);
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/*! \brief Default destructor. */
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virtual ~GenericFilter() = default;
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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);
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protected:
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FilterStatus m_status; /*!< Filter status */
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private:
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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 fratio
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#include "GenericFilter.tpp"
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