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<h1>fastDepukfb.H</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef FASTDEPUKFB_H_</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define FASTDEPUKFB_H_</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span><span class="preprocessor">#include <string.h></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include "depukfb.H"</span>
<a name="l00005"></a>00005
<a name="l00006"></a><a class="code" href="classFastDepUKFB.html">00006</a> <span class="keyword">class </span><a class="code" href="classFastDepUKFB.html">FastDepUKFB</a> : <span class="keyword">public</span> <a class="code" href="classDepUKFB.html">DepUKFB</a> {
<a name="l00007"></a>00007
<a name="l00008"></a>00008 <span class="keywordtype">double</span> n_l[2], d_l[3]; <span class="comment">// Lower filter IIR coeff.</span>
<a name="l00009"></a>00009 <span class="keywordtype">double</span> n_u[2], d_u[3]; <span class="comment">// Upper filter IIR coeff.</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="keywordtype">void</span> findIIRCoeff(<span class="keywordtype">double</span> fc, <span class="keywordtype">double</span> pl, <span class="keywordtype">double</span> pu){
<a name="l00012"></a>00012 <span class="keywordtype">double</span> c1, c2, c3, c4; <span class="comment">// Numerator coefficients</span>
<a name="l00013"></a>00013 <span class="keywordtype">double</span> d1, d2, d3, d4; <span class="comment">// Denominator coefficients</span>
<a name="l00014"></a>00014
<a name="l00015"></a>00015 <span class="comment">// Find the lower filter's IIR coefficients first</span>
<a name="l00016"></a>00016 c1=exp(pl/fc);
<a name="l00017"></a>00017 c2=exp(pl);
<a name="l00018"></a>00018 <span class="comment">//c5=c1*c1;</span>
<a name="l00019"></a>00019 c4=c1*c2;
<a name="l00020"></a>00020 c3=c1*c4;
<a name="l00021"></a>00021 d_l[0]=(c2*fc); <span class="comment">// Do this first so we can divide by it</span>
<a name="l00022"></a>00022 n_l[0]=(fc+fc*pl)/d_l[0]; <span class="comment">// Numerator</span>
<a name="l00023"></a>00023 n_l[1]=(-c1*fc-c1*pl-c1*fc*pl)/d_l[0];
<a name="l00024"></a>00024 d_l[1]=(-2*c4*fc)/d_l[0]; <span class="comment">// Denominator</span>
<a name="l00025"></a>00025 d_l[2]=(c3*fc)/d_l[0];
<a name="l00026"></a>00026 d_l[0]=1.0;
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="comment">// Find the upper filter's IIR coefficients</span>
<a name="l00029"></a>00029 d4=exp(pu/fc);
<a name="l00030"></a>00030 d3=d4*d4;
<a name="l00031"></a>00031 d2=exp(pu+pu/fc);
<a name="l00032"></a>00032 d1=d2*d4;
<a name="l00033"></a>00033
<a name="l00034"></a>00034 d_u[0]=(d3*fc);
<a name="l00035"></a>00035 n_u[0]=(d1*fc-d1*fc*pu)/d_u[0]; <span class="comment">// Numerator</span>
<a name="l00036"></a>00036 n_u[1]=d2*(-fc+pu+pu*fc)/d_u[0];
<a name="l00037"></a>00037 d_u[1]=(-2*d4*fc)/d_u[0]; <span class="comment">// Denominator</span>
<a name="l00038"></a>00038 d_u[2]=(fc)/d_u[0];
<a name="l00039"></a>00039 d_u[0]=1.0;
<a name="l00040"></a>00040 }
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keywordtype">void</span> filter(<span class="keywordtype">double</span> fc, <span class="keywordtype">double</span> *out){
<a name="l00043"></a>00043 <span class="comment">//Second order impulse response</span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// Reset the state vars and the output</span>
<a name="l00046"></a>00046 <span class="keywordtype">double</span> z1=0.0, z2=0.0;
<a name="l00047"></a>00047 bzero(out, (<span class="keywordtype">int</span>)rint(<a class="code" href="classDepUKFB.html#a13cbfe921394b68c53a17878367566a9" title="The sample frequency.">fs</a>/2.0)*<span class="keyword">sizeof</span>(<span class="keywordtype">double</span>));
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="comment">// Upper filter ...</span>
<a name="l00050"></a>00050 <span class="comment">// First excite with a unit input ....</span>
<a name="l00051"></a>00051 out[0] = n_u[0] - d_u[0]*out[0] + z1;
<a name="l00052"></a>00052 z1 = n_u[1] - d_u[1]*out[0] + z2;
<a name="l00053"></a>00053 z2 = - d_u[2]*out[0];
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1;i<(int)rint(<a class="code" href="classDepUKFB.html#a13cbfe921394b68c53a17878367566a9" title="The sample frequency.">fs</a>/2.0);i++){ <span class="comment">// the input now equals zero</span>
<a name="l00056"></a>00056 out[i] = - d_u[0]*out[i] + z1;
<a name="l00057"></a>00057 z1 = - d_u[1]*out[i] + z2;
<a name="l00058"></a>00058 z2 = - d_u[2]*out[i];
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="comment">// Reset the state vars and the lower output</span>
<a name="l00062"></a>00062 z1=z2=0.0;
<a name="l00063"></a>00063 bzero(out, (<span class="keywordtype">int</span>)rint(fc)*<span class="keyword">sizeof</span>(<span class="keywordtype">double</span>));
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="comment">// Lower filter ...</span>
<a name="l00066"></a>00066 <span class="comment">// First excite with a unit input ....</span>
<a name="l00067"></a>00067 out[0] = n_l[0] - d_l[0]*out[0] + z1;
<a name="l00068"></a>00068 z1 = n_l[1] - d_l[1]*out[0] + z2;
<a name="l00069"></a>00069 z2 = - d_l[2]*out[0];
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1;i<(int)rint(fc);i++){ <span class="comment">// the input now equals zero</span>
<a name="l00072"></a>00072 out[i] = - d_l[0]*out[i] + z1;
<a name="l00073"></a>00073 z1 = - d_l[1]*out[i] + z2;
<a name="l00074"></a>00074 z2 = - d_l[2]*out[i];
<a name="l00075"></a>00075 }
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keywordtype">void</span> afZ(<span class="keywordtype">double</span> fc, <span class="keywordtype">int</span> whichFilter, <span class="keywordtype">double</span> pl, <span class="keywordtype">double</span> pu){
<a name="l00079"></a>00079 <span class="keywordtype">double</span> *filt=<a class="code" href="classDepUKFB.html#adefe805565fa01861468b5a51ca87a89" title="The filters.">w</a>[whichFilter];
<a name="l00080"></a>00080 findIIRCoeff(fc, pl, pu); <span class="comment">// Find the IIR coefficients to filter with</span>
<a name="l00081"></a>00081 filter(fc, filt); <span class="comment">// Find the lower filter shape</span>
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00085"></a>00085 <span class="keyword">virtual</span> <span class="keywordtype">void</span> af(<span class="keywordtype">double</span> fc, <span class="keywordtype">int</span> whichFilter){
<a name="l00086"></a>00086 cout<<<span class="stringliteral">"FastDepUKFB::af"</span><<endl;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment">// Produce the filter</span>
<a name="l00089"></a>00089 afZ(fc, whichFilter, <a class="code" href="classDepUKFB.html#add2cdb1268800eade95915f209e09166">p_l</a>(fc), <a class="code" href="classDepUKFB.html#ac9c9ed1ccc3a941359ff1d5d8c243c65">p_u</a>(fc));
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="keyword">public</span>:
<a name="l00093"></a>00093 <a class="code" href="classFastDepUKFB.html">FastDepUKFB</a>(<span class="keywordtype">int</span> sampleFreq, <span class="keywordtype">int</span> fCnt=50) {
<a name="l00094"></a>00094 <a class="code" href="classDepUKFB.html#ae39f616845a715311d9c2666bb5b086c">init</a>(sampleFreq, fCnt);
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096 };
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="preprocessor">#endif //FASTDEPUKFB_H_</span>
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