digitalfilter.h

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/*
 * 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 <almath/api.h>
#include <boost/version.hpp>
#if (BOOST_VERSION < 106200) && !defined(BOOST_CB_DISABLE_DEBUG)
# define BOOST_CB_DISABLE_DEBUG
#endif
#include <boost/circular_buffer.hpp>

namespace AL
{
namespace Math
{
namespace DSP
{

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

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

  void resetFilter();

  float processFilter(float pInputData);

private:
  boost::circular_buffer<float> fFilterBufferIn;
  boost::circular_buffer<float> fFilterBufferOut;

  float fFilterDcGain;

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





#endif  // _LIB_ALMATH_ALMATH_DSP_DIGITALFILTER_H_