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_alpha(self, rc): self.alpha = self.dt / (rc + self.dt)
[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