CImuPreFilterSwc Class Reference

Software component that applies a 2nd order Butterworth low-pass filter to raw IMU measurements. Currently, only the specific force signals are filtered. More...

Inheritance diagram for CImuPreFilterSwc:

Classes
struct	SFilterConfiguration

Public Types
enum class	ESensorId : uint8_t { eImu1 , eImu2 , eImu3 }
	IMU sensor identifier for pre-filter instances. More...

Public Member Functions
void	Init () override
bool	IsInitialized () override
void	Run ()
	Apply the Butterworth low-pass filter to the raw IMU measurement and write the result.
Public Member Functions inherited from CSoftwareComponent< CImuPreFilterSwc, 3U >
	CSoftwareComponent (CSoftwareComponent &)=delete
CSoftwareComponent &	operator= (const CSoftwareComponent &orOther)=delete

Private Member Functions
	CImuPreFilterSwc (CImuPreFilterSwc &)=delete
	CImuPreFilterSwc (CImuPreFilterSwc &&)=delete
CImuPreFilterSwc &	operator= (const CImuPreFilterSwc &orOther)=delete
CImuPreFilterSwc &	operator= (CImuPreFilterSwc &&orOther)=delete
	CImuPreFilterSwc (SFilterConfiguration oFilterConfig)
	~CImuPreFilterSwc ()=default
bool	readImuDataPort (struct SImuMeasurement &orInput) const
void	writeFilteredImuDataPort (const struct SImuMeasurement &orOutput) const
void	resetFilters ()

Static Private Member Functions
static CImuPreFilterSwc &	getInstanceImpl (unsigned uInstanceIndex)
template<ESensorId eSensorId>
static constexpr SFilterConfiguration	getFilterConfiguration ()

Private Attributes
const ESensorId	keSensorId_
const float	kfCutoffFrequencyHz_
	Cutoff frequency of the Butterworth low-pass filter, [Hz].
uint8_t	uInvalidInputCounter_ { 0U }
bool	bIsInitialized_ { false }
CButterworthLowPassFilter2	oFilterSpecificForceX_ {}
CButterworthLowPassFilter2	oFilterSpecificForceY_ {}
CButterworthLowPassFilter2	oFilterSpecificForceZ_ {}

Static Private Attributes
static constexpr float	skfSamplingFrequencyHz_ { 200.0F }
	IMU sampling frequency, [Hz].
static constexpr uint8_t	skuMaxInvalidInputCount_ { 5U }
	Maximum allowed number of consecutive invalid input datasets before the filter is reset.

Friends
class	CSoftwareComponent< CImuPreFilterSwc, 3U >

Additional Inherited Members
Static Public Member Functions inherited from CSoftwareComponent< CImuPreFilterSwc, 3U >
static CImuPreFilterSwc &	GetInstance (unsigned uInstanceIndex=0U)
Static Public Attributes inherited from CSoftwareComponent< CImuPreFilterSwc, 3U >
static constexpr unsigned	skuInstanceCount_
Protected Member Functions inherited from CSoftwareComponent< CImuPreFilterSwc, 3U >
	~CSoftwareComponent ()=default

Detailed Description

Software component that applies a 2nd order Butterworth low-pass filter to raw IMU measurements. Currently, only the specific force signals are filtered.

Member Enumeration Documentation

ESensorId

enum class CImuPreFilterSwc::ESensorId : uint8_t

strong

IMU sensor identifier for pre-filter instances.

Enumerator
eImu1
eImu2
eImu3

Constructor & Destructor Documentation

CImuPreFilterSwc() [1/3]

CImuPreFilterSwc::CImuPreFilterSwc ( CImuPreFilterSwc & )

privatedelete

CImuPreFilterSwc() [2/3]

CImuPreFilterSwc::CImuPreFilterSwc ( CImuPreFilterSwc && )

privatedelete

CImuPreFilterSwc() [3/3]

CImuPreFilterSwc::CImuPreFilterSwc ( SFilterConfiguration oFilterConfig )

explicitprivate

~CImuPreFilterSwc()

CImuPreFilterSwc::~CImuPreFilterSwc ( )

privatedefault

Member Function Documentation

getFilterConfiguration()

template<ESensorId eSensorId>

constexpr SFilterConfiguration CImuPreFilterSwc::getFilterConfiguration ( )

staticconstexprprivate

getInstanceImpl()

CImuPreFilterSwc & CImuPreFilterSwc::getInstanceImpl ( unsigned uInstanceIndex )

staticprivate

Init()

void CImuPreFilterSwc::Init ( )

overridevirtual

Initialize the software component.

Implements CSoftwareComponent< CImuPreFilterSwc, 3U >.

IsInitialized()

bool CImuPreFilterSwc::IsInitialized ( )

overridevirtual

Get initialization status of the software component.

Returns

True – the component is initialized, false otherwise.

Implements CSoftwareComponent< CImuPreFilterSwc, 3U >.

operator=() [1/2]

CImuPreFilterSwc & CImuPreFilterSwc::operator= ( CImuPreFilterSwc && orOther )

privatedelete

operator=() [2/2]

CImuPreFilterSwc & CImuPreFilterSwc::operator= ( const CImuPreFilterSwc & orOther )

privatedelete

readImuDataPort()

bool CImuPreFilterSwc::readImuDataPort ( struct SImuMeasurement & orInput ) const

private

resetFilters()

void CImuPreFilterSwc::resetFilters ( )

private

Run()

void CImuPreFilterSwc::Run

(

)

Apply the Butterworth low-pass filter to the raw IMU measurement and write the result.

writeFilteredImuDataPort()

void CImuPreFilterSwc::writeFilteredImuDataPort ( const struct SImuMeasurement & orOutput ) const

private

Friends And Related Symbol Documentation

CSoftwareComponent< CImuPreFilterSwc, 3U >

friend class CSoftwareComponent< CImuPreFilterSwc, 3U >

friend

Member Data Documentation

bIsInitialized_

bool CImuPreFilterSwc::bIsInitialized_ { false }

private

keSensorId_

const ESensorId CImuPreFilterSwc::keSensorId_

private

kfCutoffFrequencyHz_

const float CImuPreFilterSwc::kfCutoffFrequencyHz_

private

Cutoff frequency of the Butterworth low-pass filter, [Hz].

oFilterSpecificForceX_

CButterworthLowPassFilter2 CImuPreFilterSwc::oFilterSpecificForceX_ {}

private

oFilterSpecificForceY_

CButterworthLowPassFilter2 CImuPreFilterSwc::oFilterSpecificForceY_ {}

private

oFilterSpecificForceZ_

CButterworthLowPassFilter2 CImuPreFilterSwc::oFilterSpecificForceZ_ {}

private

skfSamplingFrequencyHz_

float CImuPreFilterSwc::skfSamplingFrequencyHz_ { 200.0F }

staticconstexprprivate

IMU sampling frequency, [Hz].

skuMaxInvalidInputCount_

uint8_t CImuPreFilterSwc::skuMaxInvalidInputCount_ { 5U }

staticconstexprprivate

Maximum allowed number of consecutive invalid input datasets before the filter is reset.

uInvalidInputCounter_

uint8_t CImuPreFilterSwc::uInvalidInputCounter_ { 0U }

private

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The documentation for this class was generated from the following files:

• CImuPreFilterSwc.h
• CImuPreFilterSwc.cpp