17 #ifndef __sot_torque_control_FilterDifferentiator_H__
18 #define __sot_torque_control_FilterDifferentiator_H__
24 #if defined(low_pass_filter_EXPORTS)
25 #define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllexport)
27 #define SOTFILTERDIFFERENTIATOR_EXPORT __declspec(dllimport)
30 #define SOTFILTERDIFFERENTIATOR_EXPORT
41 #include <dynamic-graph/signal-helper.h>
58 :
public ::dynamicgraph::Entity {
59 DYNAMIC_GRAPH_ENTITY_DECL();
63 DECLARE_SIGNAL_IN(x, dynamicgraph::Vector);
65 DECLARE_SIGNAL_OUT(x_filtered, dynamicgraph::Vector);
66 DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector);
67 DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector);
82 DECLARE_SIGNAL_INNER(x_dx_ddx, dynamicgraph::Vector);
92 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
108 void init(
const double ×tep,
const int &xSize,
109 const Eigen::VectorXd &filter_numerator,
110 const Eigen::VectorXd &filter_denominator);
112 void switch_filter(
const Eigen::VectorXd &filter_numerator,
113 const Eigen::VectorXd &filter_denominator);
117 virtual void display(std::ostream &os)
const;
124 #endif // #ifndef __sot_torque_control_FilterDifferentiator_H__