include/barrett/systems/first_order_filter.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett is distributed in the hope that it will be
        useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * first_order_filter.h
 *
 *  Created on: Nov 18, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_FIRST_ORDER_FILTER_H_
#define BARRETT_SYSTEMS_FIRST_ORDER_FILTER_H_


#include <Eigen/Core>
#include <libconfig.h++>

#include <barrett/detail/ca_macro.h>
#include <barrett/math/first_order_filter.h>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {


template<typename T, typename MathTraits = math::Traits<T> >
class FirstOrderFilter : public SingleIO<T, T>, protected math::FirstOrderFilter<T,MathTraits> {
public:
        explicit FirstOrderFilter(const std::string& sysName = "FirstOrderFilter");
        explicit FirstOrderFilter(const libconfig::Setting& setting, const std::string& sysName = "FirstOrderFilter");
        virtual ~FirstOrderFilter() { this->mandatoryCleanUp(); }

        using math::FirstOrderFilter<T,MathTraits>::setFromConfig;
        using math::FirstOrderFilter<T,MathTraits>::setLowPass;
        using math::FirstOrderFilter<T,MathTraits>::setHighPass;
        using math::FirstOrderFilter<T,MathTraits>::setZPK;
        using math::FirstOrderFilter<T,MathTraits>::setIntegrator;
        using math::FirstOrderFilter<T,MathTraits>::setParameters;

protected:
        virtual void operate();

        virtual void onExecutionManagerChanged() {
                SingleIO<T, T>::onExecutionManagerChanged();  // First, call super
                getSamplePeriodFromEM();
        }
        void getSamplePeriodFromEM();

private:
        DISALLOW_COPY_AND_ASSIGN(FirstOrderFilter);

public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(MathTraits::RequiresAlignment)
};


}
}


// include template definitions
#include <barrett/systems/detail/first_order_filter-inl.h>


#endif /* BARRETT_SYSTEMS_FIRST_ORDER_FILTER_H_ */