StationaryOffsetFilter.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#pragma once

#include "ExponentialMovingAverage.h"
#include <Eigen/Dense>

namespace utils
{

struct StationaryOffsetFilter
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  StationaryOffsetFilter(double dt, double timeConstant, const Eigen::Vector3d & initValue = Eigen::Vector3d::Zero())
  : average_(dt, timeConstant, initValue)
  {
    filteredValue_ = initValue;
    rawValue_ = initValue;
  }

  void update(const Eigen::Vector3d & value)
  {
    average_.append(value);
    filteredValue_ = value - average_.eval();
    rawValue_ = value;
  }

  const Eigen::Vector3d & eval() const
  {
    return filteredValue_;
  }

  const Eigen::Vector3d & raw() const
  {
    return rawValue_;
  }

  void setZero()
  {
    average_.setZero();
    filteredValue_.setZero();
    rawValue_.setZero();
  }

  double timeConstant() const
  {
    return average_.timeConstant();
  }

  void timeConstant(double T)
  {
    average_.timeConstant(T);
  }

private:
  Eigen::Vector3d filteredValue_;
  Eigen::Vector3d rawValue_;
  ExponentialMovingAverage average_;
};

} // namespace utils

using utils::StationaryOffsetFilter;