Function franka::robot::low_pass_filter::cartesian_low_pass_filter

source · [−]
pub fn cartesian_low_pass_filter(
    sample_time: f64, 
    y: &[f64; 16], 
    y_last: &[f64; 16], 
    cutoff_frequency: f64
) -> [f64; 16]
Expand description

Applies a first-order low-pass filter to the translation and spherical linear interpolation to the rotation of a transformation matrix which represents a Cartesian Motion.

Arguments

  • sample_time - Sample time constant
  • y - Current Cartesian transformation matrix to be filtered
  • y_last - Cartesian transformation matrix from the previous time step
  • cutoff_frequency - Cutoff frequency of the low-pass filter

Panics

This function panics if:

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

Return

Filtered Cartesian transformation matrix.