WPILibC++
2020.3.2
Filter.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <wpi/deprecated.h>
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#include "frc/PIDSource.h"
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namespace
frc
{
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class
Filter
:
public
PIDSource
{
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public
:
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WPI_DEPRECATED(
"This class is no longer used."
)
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explicit
Filter
(
PIDSource
& source);
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WPI_DEPRECATED(
"This class is no longer used."
)
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explicit
Filter
(std::shared_ptr<PIDSource> source);
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virtual
~
Filter
() =
default
;
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Filter
(
Filter
&&) =
default
;
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Filter
& operator=(
Filter
&&) =
default
;
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// PIDSource interface
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void
SetPIDSourceType
(PIDSourceType pidSource)
override
;
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PIDSourceType GetPIDSourceType()
const override
;
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double
PIDGet()
override
= 0;
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virtual
double
Get
()
const
= 0;
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virtual
void
Reset
() = 0;
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protected
:
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double
PIDGetSource
();
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private
:
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std::shared_ptr<PIDSource> m_source;
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};
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}
// namespace frc
frc::PIDSource
PIDSource interface is a generic sensor source for the PID class.
Definition:
PIDSource.h:20
frc::Filter::PIDGetSource
double PIDGetSource()
Calls PIDGet() of source.
frc::Filter::Get
virtual double Get() const =0
Returns the current filter estimate without also inserting new data as PIDGet() would do.
frc::Filter::Reset
virtual void Reset()=0
Reset the filter state.
frc
A class that enforces constraints on the differential drive kinematics.
Definition:
SPIAccelerometerSim.h:16
frc::Filter
Interface for filters.
Definition:
Filter.h:21
frc::Filter::SetPIDSourceType
void SetPIDSourceType(PIDSourceType pidSource) override
Set which parameter you are using as a process control variable.
wpilibc
src
main
native
include
frc
filters
Filter.h
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