#include <motion_filter.h>

Public Types
enum class	Type { kPosition = 0 , kVelocity , kTorque }

Public Member Functions
	MotionFilter (Cia402Drive &cia402_drive, MotionFilter::Type type)
void	set_target (int32_t target)
	Set the input target value.
int32_t	get_filtered_target (uint64_t pending_signals)
	Get the filtered (output) target value.
MotionFilter::Type	get_type ()
	Get the type of the motion filter.
bool	is_position ()
	Check if a position motion filter is used.
bool	is_velocity ()
	Check if a velocity motion filter is used.
bool	is_torque ()
	Check if a torque motion filter is used.

Member Enumeration Documentation

◆ Type

enum class MotionFilter::Type

strong

Enumerator
kPosition
kVelocity
kTorque

Constructor & Destructor Documentation

◆ MotionFilter()

MotionFilter::MotionFilter	(	Cia402Drive &	cia402_drive,
		MotionFilter::Type	type )

Member Function Documentation

◆ get_filtered_target()

int32_t MotionFilter::get_filtered_target ( uint64_t pending_signals )

Get the filtered (output) target value.

Parameters

pending_signals number of time intervals that passed since the last call to this function

Returns: the filtered (output) target value

◆ get_type()

MotionFilter::Type MotionFilter::get_type ( )

Get the type of the motion filter.

Returns: the type of the motion filter

◆ is_position()

bool MotionFilter::is_position ( )

Check if a position motion filter is used.

Returns: true if the position filter is used, false otherwise

◆ is_torque()

bool MotionFilter::is_torque ( )

Check if a torque motion filter is used.

Returns: true if the torque filter is used, false otherwise

◆ is_velocity()

bool MotionFilter::is_velocity ( )

Check if a velocity motion filter is used.

Returns: true if the velocity filter is used, false otherwise

◆ set_target()

void MotionFilter::set_target ( int32_t target )

Set the input target value.