Function franka::robot::low_pass_filter::low_pass_filter

pub fn low_pass_filter(
    sample_time: f64, 
    y: f64, 
    y_last: f64, 
    cutoff_frequency: f64
) -> f64

Applies a first-order low-pass filter

Arguments

• sample_time - Sample time constant
• y - Current value of the signal to be filtered
• y_last - Value of the signal to be filtered in the previous time step
• cutoff_frequency -Cutoff frequency of the low-pass filter

Panics

This function panics if:

• y is infinite or NaN.
• y_last is infinite or NaN.
• cutoff_frequency is zero, negative, infinite or NaN.
• sample_time is negative, infinite or NaN.

Return

Filtered value.