filter.hpp

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#ifndef WBC_TOOLS_FILTER_HPP
#define WBC_TOOLS_FILTER_HPP  
 
#include <vector>
#include <Eigen/Core>
 
namespace wbc {
 
class Filter{
protected:
    size_t window_size_;
public:
    Filter(size_t window_size) : window_size_(window_size) {}
    virtual ~Filter() {}
    virtual double apply(double new_value) = 0;
};
 
class MovingMedianFilter : public Filter {
protected:
    Eigen::VectorXd values_;
    Eigen::VectorXd sorted_values_;
public:
    MovingMedianFilter(size_t window_size) : Filter(window_size) {}
 
    virtual double apply(double new_value);
 
};
 
class MovingAverageFilter : public Filter {
protected:
    Eigen::VectorXd values_;
public:
    MovingAverageFilter(size_t window_size) : Filter(window_size) {}
 
    virtual double apply(double new_value);
 
};

class LowPassFilter {
protected:
    double alpha_;
    bool initialized_;
    Eigen::VectorXd y_;
public:
    LowPassFilter(double cutoff_freq, double sample_time);

    const Eigen::VectorXd& apply(const Eigen::VectorXd& new_value);

    void reset(){initialized_ = false;}
};
 
}
 
#endif  // WBC_TOOLS_FILTER_HPP