iir filters ROS wrapper with C++.
This repository wrapper the origin IIR filters repository for ROS.
This is a powerful filter library which implements all standard IIR filters such as Bessel, Butterworth, Elliptic and Chebychev. The data format is floating-point throughout.
ROS: kinetic
Ubuntu: 16.04
Just copy this repository as a stanalone ROS package in your catkin workspace.
Set your package depending on this pacakge named iir_filters in your package.xml and CMakeLists.txt.
In your project, use the filter like this
#include "iir_filters/Iir.h"
// init filter
Iir::Butterworth::LowPass<order> f; // NOTE： here order should replaced by a int number!
const float samplingrate = 1000; // Hz
const float cutoff_frequency = 5; // Hz
f.setup (order, samplingrate, cutoff_frequency); // NOTE： here order should replaced by a int number!
// Realtime filtering sample by sample
float y = f.filter(x); // here x is a float, and one dimension