00001 #ifndef INCLUDE_FILTER_H
00002 #define INCLUDE_FILTER_H
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00036 #include "LorisExceptions.h"
00037 #include "Notifier.h"
00038
00039 #include <algorithm>
00040 #include <deque>
00041 #include <functional>
00042 #include <numeric>
00043 #include <vector>
00044
00045
00046 namespace Loris {
00047
00048
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00057
00058 class Filter
00059 {
00060
00061 public:
00062
00063 Filter( void );
00064
00065
00066
00067
00068
00069
00070
00071 #if !defined(NO_TEMPLATE_MEMBERS)
00072 template<typename IterT1, typename IterT2>
00073 Filter( IterT1 ma_begin, IterT1 ma_end,
00074 IterT2 ar_begin, IterT2 ar_end,
00075 double gain = 1. );
00076 #else
00077 Filter( const double * ma_begin, const double * ma_end,
00078 const double * ar_begin, const double * ar_end,
00079 double gain = 1. );
00080 #endif
00081
00082
00083 Filter( const Filter & other );
00084 Filter & operator=( const Filter & rhs );
00085
00086
00087 double sample( double input );
00088
00089
00090 double operator() ( double input ) { return sample(input); }
00091
00092
00093 void clear( void );
00094
00095
00096
00097 std::deque< double > _delayline;
00098
00099
00100 std::vector< double > _maCoefs, _arCoefs;
00101
00102
00103 double _gain;
00104
00105 };
00106
00107
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00113
00114 #if !defined(NO_TEMPLATE_MEMBERS)
00115 template<typename IterT1, typename IterT2>
00116 Filter::Filter( IterT1 ma_begin, IterT1 ma_end,
00117 IterT2 ar_begin, IterT2 ar_end,
00118 double gain ) :
00119 #else
00120 inline
00121 Filter::Filter( const double * ma_begin, const double * ma_end,
00122 const double * ar_begin, const double * ar_end,
00123 double gain ) :
00124 #endif
00125 _maCoefs( ma_begin, ma_end ),
00126 _arCoefs( ar_begin, ar_end ),
00127 _delayline( std::max( ma_end-ma_begin, ar_end-ar_begin ) - 1, 0. ),
00128 _gain( gain )
00129 {
00130 if ( *ar_begin == 0. )
00131 {
00132 Throw( InvalidObject, "Tried to create a Filter with zero AR coefficient at zero delay." );
00133 }
00134
00135 debugger << "constructing a Filter with " << _maCoefs.size();
00136 debugger << " feed-forward coefficients and " << _arCoefs.size();
00137 debugger << " feedback coefficients, with a delay lines of length ";
00138 debugger << _delayline.size() << std::endl;
00139 if ( *ar_begin != 1. )
00140 {
00141
00142 std::transform( _maCoefs.begin(), _maCoefs.end(), _maCoefs.begin(),
00143 std::bind2nd( std::divides<double>(), *ar_begin ) );
00144 std::transform( _arCoefs.begin(), _arCoefs.end(), _arCoefs.begin(),
00145 std::bind2nd( std::divides<double>(), *ar_begin ) );
00146 _arCoefs[0] = 1.;
00147 }
00148 debugger << _maCoefs[0] << " " << _maCoefs[1] << " " << _maCoefs[2] << " " << _maCoefs[3] << " " << std::endl;
00149 debugger << _arCoefs[0] << " " << _arCoefs[2] << " " << _arCoefs[2] << " " << _arCoefs[3] << " " << std::endl;
00150 }
00151
00152
00153 }
00154
00155 #endif