Source code for common.filter_simple
[docs]
class FirstOrderFilter:
# first order filter
def __init__(self, x0, rc, dt, initialized=True):
self.x = x0
self.dt = dt
self.update_alpha(rc)
self.initialized = initialized
[docs]
def update(self, x):
if self.initialized:
self.x = (1. - self.alpha) * self.x + self.alpha * x
else:
self.initialized = True
self.x = x
return self.x