TransferFunctionFilter

The TransferFunctionFilter calculates the output for

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one-dimensional digital filters. Where the input,
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, is a (
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x 1) vector of inputs and the output,
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, is a (
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x 1) vector of outputs. The filter is described by vectors
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and
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and implemented using the standard difference equation:

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If

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is not equal to 1, the coefficients are normalised by
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.

ROS API

Parameters

~name (string, default: Required)
  • Name of the filter
~type () (string, default: Required)
  • The filter's typename as declared in it's pluginlib registration: MultiChannelTransferFunctionFilterDouble or TransferFunctionFilterDouble
~params/a (double, default: Required)
  • A vector of coefficients
~params/b (double, default: Required)
  • A vector of coefficients

Example Configuration:

LowPass:
  name: my_filter
  type: MultiChannelTransferFunctionFilterDouble
  params:
    a: [1.0, -0.509525449494429]
    b: [0.245237275252786, 0.245237275252786]

Wiki: filters/TransferFunctionFilter (last edited 2010-06-10 01:44:43 by VijayPradeep)