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C++ FirstOrderFilter: add initialized flag (#29602)

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add initialized flag with default to not change behavior
old-commit-hash: 54e98fa888
This commit is contained in:
Shane Smiskol
2023-08-24 14:33:11 -07:00
committed by GitHub
parent 86692bf177
commit 8cbc68a3be
1 changed files with 9 additions and 2 deletions
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11
common/util.h
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@@ -153,12 +153,18 @@ struct unique_fd {
class FirstOrderFilter {
public:
FirstOrderFilter(float x0, float ts, float dt) {
FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) {
k_ = (dt / ts) / (1.0 + dt / ts);
x_ = x0;
initialized_ = initialized;
}
inline float update(float x) {
x_ = (1. - k_) * x_ + k_ * x;
if (initialized_) {
x_ = (1. - k_) * x_ + k_ * x;
} else {
initialized_ = true;
x_ = x;
}
return x_;
}
inline void reset(float x) { x_ = x; }
@@ -166,6 +172,7 @@ public:
private:
float x_, k_;
bool initialized_;
};
template<typename T>