digitalfilter.h

/*
 * Copyright (c) 2012-2014 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */

#pragma once

#ifndef _LIB_ALMATH_ALMATH_DSP_DIGITALFILTER_H_
#define _LIB_ALMATH_ALMATH_DSP_DIGITALFILTER_H_

#include <vector>
#include <deque>

namespace AL
{
namespace Math
{
namespace DSP
{

class DigitalFilter
{
public:
  DigitalFilter(void);
  ~DigitalFilter(void);

  void configureFilter(unsigned int pOrder,
                       const std::vector<float> & pWeightsIn,
                       const std::vector<float> & pWeightsOut,
                       float pDcGain);

  void resetFilter();

  float processFilter(float pInputData);

private:
  std::deque<float> fFilterBufferIn;
  std::deque<float> fFilterBufferOut;

  unsigned int fFilterOrder;
  float fFilterDcGain;

  std::vector<float> fFilterWeightsIn;
  std::vector<float> fFilterWeightsOut;

};
}
}
}





#endif  // _LIB_ALMATH_ALMATH_DSP_DIGITALFILTER_H_