basic_filter.c
bea821756841master

basic_filter.c
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			/*
			* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
			*
			* Licensed under the Apache License, Version 2.0 (the "License");
			* you may not use this file except in compliance with the License.
			* You may obtain a copy of the License at
			*
			* http://www.apache.org/licenses/LICENSE-2.0
			*
			* Unless required by applicable law or agreed to in writing, software
			* distributed under the License is distributed on an "AS IS" BASIS,
			* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
			* See the License for the specific language governing permissions and
			* limitations under the License.
			*/

			#include "basic_filter.h"

			/**
			* @brief Initialize a BasicFilter structure.
			* @param filter: pointer on the structure to initialize.
			* @param tau: the contribution of every new value. 0.0 (max filtering) to 1.0 (no filtering).
			* @param initialValue: initial value for the filter.
			*/
			void bfilt_Init(bfilt_BasicFilter* filter, float32_t tau, float32_t initialValue)
			{
			filter->tau = tau;
			filter->filteredValue = initialValue;
			}

			/**
			* @brief Step a BasicFilter structure.
			* @param filter: pointer on the structure to initialize.
			* @param newValue: the new value of the signal to filter.
			* @retval the filtered value.
			* @note this implementation is very basic, and does not take the timestep (dt) into account.
			*/
			float32_t bfilt_Step(bfilt_BasicFilter* filter, float32_t newValue)
			{
			filter->filteredValue = filter->filteredValue(1.0f-filter->tau) + newValuefilter->tau;
			return filter->filteredValue;
			}