Filters a 2D CoM position, and calculates and smooths an estimate of the CoM velocity. More...

Public Member Functions
	ComFilter (double dt=1.0, double x=0.0, double y=0.0, double vx=0.0, double vy=0.0)
	Default constructor.

void	reset (double dt=1.0, double x=0.0, double y=0.0, double vx=0.0, double vy=0.0)
	Reset the CoM filter completely to a particular state.

void	update (double xnew, double ynew)
	Update the filter with a new measured CoM position.

void	shiftPosBy (double deltax, double deltay)
	Shift the CoM position estimate by a given increment, leaving the velocity untouched (refer to `GolayFilter::shiftPosBy`)

void	shiftPosTo (double xnew, double ynew)
	Shift the CoM position estimate to a given value, leaving the velocity untouched (refer to `GolayFilter::shiftPosTo`)

double	dt () const

double	x () const

double	y () const

double	vx () const

double	vy () const

void	get (double &x, double &y, double &vx, double &vy) const

Detailed Description

Filters a 2D CoM position, and calculates and smooths an estimate of the CoM velocity.

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

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait_engines/cap_gait/include/cap_gait/cap_com_filter.h

Public Member Functions