Function franka::robot::low_pass_filter::low_pass_filter
source · [−]Expand description
Applies a first-order low-pass filter
Arguments
sample_time
- Sample time constanty
- Current value of the signal to be filteredy_last
- Value of the signal to be filtered in the previous time stepcutoff_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.